CN115303268B - Information processing method, device and storage medium for vehicle - Google Patents
Information processing method, device and storage medium for vehicle Download PDFInfo
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- CN115303268B CN115303268B CN202211052737.9A CN202211052737A CN115303268B CN 115303268 B CN115303268 B CN 115303268B CN 202211052737 A CN202211052737 A CN 202211052737A CN 115303268 B CN115303268 B CN 115303268B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
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Abstract
The invention discloses an information processing method, an information processing device and a storage medium for a vehicle. Wherein the method comprises the following steps: acquiring driving information of a vehicle on a current road section and acquiring barrier information acquired by the vehicle on the current road section; determining a first travel track of the vehicle at a future time based on the travel information, and determining a second travel track of the obstacle at the future time based on the obstacle information; based on the first travel track and the second travel track, behavior information of the obstacle passing through the sidewalk at a future time is determined. The invention solves the technical problem of low traffic safety of vehicles.
Description
Technical Field
The present invention relates to the field of vehicles, and in particular, to a vehicle information processing method, apparatus, and storage medium.
Background
In the related art, whether the vehicle is required to be yielded is judged mainly through the face direction of the pedestrian, the position of the sidewalk and the running direction of the vehicle, but the method is highly dependent on pedestrian perception information, has higher requirements on the type of a sensor and the accuracy of information, and meanwhile, cannot distinguish dynamic and static obstacles, so that the running intention of the obstacle cannot be accurately judged, and the technical problem of low traffic safety of the vehicle is caused.
Aiming at the problem of low traffic safety of vehicles, no effective solution is proposed at present.
Disclosure of Invention
The embodiment of the invention provides a vehicle information processing method, device and storage medium, which are used for at least solving the technical problem of low vehicle traffic safety.
According to an aspect of an embodiment of the present invention, there is provided an information processing method of a vehicle, including: acquiring driving information of a vehicle on a current road section, and acquiring barrier information acquired by the vehicle on the current road section, wherein the barrier information at least comprises position information of a barrier on the current road section at the current moment and/or motion state information of the barrier at the current moment; determining a first travel track of the vehicle at a future time based on the travel information, and determining a second travel track of the obstacle at the future time based on the obstacle information, wherein the first travel track is the travel track of the vehicle at the future time, and the second travel track is the travel track of the obstacle at the future time; and determining behavior information of the obstacle passing through the sidewalk at the future moment based on the first running track and the second running track, wherein the behavior information is used for representing the behavior of the obstacle passing through the sidewalk at the future moment, and the sidewalk belongs to the current road section.
Optionally, determining behavior information of the obstacle passing through the pavement at a future time based on the first travel track and the second travel track includes: acquiring an intersection point set of a plurality of intersection points where the first running track and the second running track intersect; based on the intersection set, behavior information of the obstacle passing through the sidewalk at a future time is determined.
Optionally, determining behavior information of the obstacle passing through the sidewalk at a future time based on the intersection set includes: sequencing a plurality of intersection points in an intersection point set according to the running time of the obstacle at the future moment to obtain a first sequencing result, and sequencing a plurality of intersection points in the intersection point set according to the running time of the vehicle at the future moment to obtain a second sequencing result; and determining behavior information of the obstacle passing through the sidewalk at a future moment based on the first sorting result and the second sorting result.
Optionally, determining behavior information of the obstacle passing through the pavement at a future time based on the first sorting result and the second sorting result includes: acquiring a first intersection point of the first ranking and a second intersection point of the second ranking in the first ranking result, and acquiring a third intersection point of the first ranking and a fourth intersection point of the second ranking in the second ranking result; determining a vector direction from the first intersection point to the second intersection point as a first traveling direction of the obstacle, and determining a vector direction from the third intersection point to the fourth intersection point as a second traveling direction of the vehicle; based on the first travel direction and the second travel direction, behavior information of the obstacle passing through the sidewalk at a future time is determined.
Optionally, the method further comprises: the behavior information of the obstacle passing through the sidewalk at a future time is determined based on the first travel direction and an angle threshold value, wherein the angle threshold value is obtained by setting on the basis of a line perpendicular to the second travel direction.
Optionally, the method further comprises: acquiring a fifth intersection point of the ranking end in the first ranking result; and determining the behavior information of the obstacle passing through the pavement at the future moment in response to the fifth intersection point being in the pavement extending area of the current road section, wherein the included angle between the first traveling direction and the line is smaller than an angle threshold value, and the pavement extending area is obtained by extending the boundary of the pavement by a distance threshold value.
According to another aspect of the embodiment of the present invention, there is also provided an information processing apparatus of a vehicle, including: the device comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring running information of a vehicle on a current road section and barrier information acquired by the vehicle on the current road section, wherein the barrier information at least comprises position information of a barrier at the current moment and/or motion state information of the barrier at the current moment; a first determining unit configured to determine a first travel locus of the vehicle at a future time based on the travel information, and determine a second travel locus of the obstacle at the future time based on the obstacle information, wherein the first travel locus is used for representing the travel locus of the vehicle at the future time, and the second travel locus is used for representing the travel locus of the obstacle at the future time; and a second determining unit configured to determine behavior information of the obstacle passing through the sidewalk at a future time based on the first travel track and the second travel track, wherein the behavior information is used to characterize a behavior of the obstacle passing through the sidewalk at the future time.
According to another aspect of an embodiment of the present invention, there is also provided a computer-readable storage medium. The computer readable storage medium includes a stored program, wherein the device in which the computer readable storage medium is controlled to execute the information processing method of the vehicle according to the embodiment of the present invention when the program runs.
According to another aspect of an embodiment of the present invention, there is also provided a processor. The processor is used for running a program, wherein the program runs to execute the method for processing the information of the vehicle.
According to another aspect of the embodiment of the invention, a vehicle is also provided. The vehicle is used for executing the method for processing the information of the vehicle according to the embodiment of the invention.
In the embodiment of the invention, the running information of the vehicle on the current road section is acquired, and the barrier information acquired by the vehicle on the current road section is acquired; determining a first travel track of the vehicle at a future time based on the travel information, and determining a second travel track of the obstacle at the future time based on the obstacle information; based on the first travel track and the second travel track, behavior information of the obstacle passing through the sidewalk at a future time is determined. That is, the embodiment of the invention predicts the first running track of the vehicle at the future time according to the acquired vehicle running information, predicts the second running track of the obstacle at the future time according to the acquired obstacle information, judges the behavior information of the obstacle according to the intersection point between the first running track and the second running track, and finally determines whether the obstacle is ready to traverse the sidewalk based on the behavior information, thereby achieving the purpose of accurately judging the running intention of the obstacle, further realizing the technical effect of improving the traffic safety of the vehicle, and solving the technical problem of low traffic safety of the vehicle.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
Fig. 1 is a flowchart of an information processing method of a vehicle according to an embodiment of the present invention;
FIG. 2 is a flow chart of a rule-based pedestrian and non-motor vehicle crossing status determination method in accordance with an embodiment of the present invention;
FIG. 3 is a schematic illustration of a pavement area according to an embodiment of the present invention;
FIG. 4 is a schematic view of an obstacle and direction of movement of a bicycle according to an embodiment of the present invention;
FIG. 5 is a schematic illustration of a motion trajectory intersection, according to an embodiment of the invention;
fig. 6 is a schematic diagram of an information processing apparatus of a vehicle according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
According to an embodiment of the present invention, there is provided an embodiment of an information processing method of a vehicle, it being noted that the steps shown in the flowchart of the drawings may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is shown in the flowchart, in some cases the steps shown or described may be performed in an order different from that herein.
Fig. 1 is a flowchart of a method of processing information of a vehicle according to an embodiment of the present invention, as shown in fig. 1, the method may include the steps of:
step S102, obtaining running information of the vehicle on the current road section and obtaining barrier information acquired by the vehicle on the current road section.
In the technical solution provided in the above step S102 of the present invention, the driving information of the vehicle on the current road section and the obstacle information of the obstacle on the current road section may be collected by the sensor mounted on the vehicle, where the driving information may include the position information of the vehicle at the current time, the driving speed information of the vehicle at the current time, and the driving track information of the vehicle at the future time, and the obstacle information may include the type of the obstacle, the position information of the obstacle at the current time, the movement state information of the obstacle at the current time, and the driving track information of the obstacle at the future time, where the movement state information is used to characterize whether the obstacle is in a static state.
Alternatively, the vehicle may be an own vehicle, that is, a vehicle for which determination of the intention of crossing an obstacle is required, an autonomous vehicle, or a non-autonomous vehicle, and is not particularly limited herein.
Step S104, determining a first travel track of the vehicle at a future time based on the travel information, and determining a second travel track of the obstacle at the future time based on the obstacle information.
In the technical solution provided in the above step S104 of the present invention, a first travel track of the vehicle at a future time is predicted according to the travel information of the vehicle, then the obstacle is screened based on the collected obstacle information, and a second travel track of the screened obstacle at the future time is determined, where the first travel track may be a travel track of the vehicle at the future time, and the second travel track may be a travel track of the obstacle at the future time.
Alternatively, since the vehicle and the obstacle each have a certain width, neither the first travel track of the vehicle nor the second travel track of the obstacle is a particle, and the first travel track and the second travel track may be discretized into a plurality of points at a fixed distance, for example, 0.5 meters (m for short), that is, the first travel track and the second travel track are each a set of a plurality of discrete points.
Optionally, screening the obstacle based on the acquired obstacle information may include: firstly screening out all the obstacles belonging to pedestrians and non-motor vehicles according to the types of the obstacles, setting expansion distances (for example, 5 m), solving the area of all the sidewalks in a fixed range (for example, 100 m) in front of the vehicle according to the position information, global navigation and high-precision map information of the vehicle at the current moment, extending all the boundaries of the sidewalks at the expansion distances to obtain an extended area range, namely, a sidewalk extending area, further screening out all the obstacles falling in the sidewalk extending area from all the obstacles belonging to the pedestrians and the non-motor vehicles, and finally screening out the obstacles falling in a moving state from all the obstacles falling in the sidewalk extending area according to the movement state information of the obstacles.
Step S106, determining behavior information of the obstacle passing through the sidewalk at a future time based on the first travel track and the second travel track.
In the technical solution provided in the above step S106 of the present invention, since the first travel track and the second travel track are discrete point sets with very short distances, there may be a plurality of intersecting points between the first travel track and the second travel track, the intersecting points may be sorted based on the travel time of the vehicle and the travel time of the obstacle, and whether the obstacle satisfies the movement angle condition and the track end point condition may be determined based on the sorting result, if the obstacle satisfies both the movement angle condition and the track end point condition, the behavior information of the obstacle passing through the sidewalk at the future time may be determined, where the intersecting point may be a coincident point of the discrete point set of the first travel track and the discrete point set of the second travel track, and the behavior information may be used to characterize the crossing intention of the obstacle crossing the sidewalk at the future time.
Alternatively, if there is no intersection between the first travel track and the second travel track, indicating that there is no risk of collision of the obstacle with the vehicle, the obstacle may be filtered out.
Optionally, the intersection points between the first travel track and the second travel track are ordered according to the travel time information of the obstacle, the vector direction from the first intersection point to the second intersection point is expressed as the travel direction of the obstacle, the intersection points between the first travel track and the second travel track are ordered according to the travel time information of the vehicle, the vector direction from the first intersection point to the second intersection point is expressed as the travel direction of the vehicle, an included angle threshold can be set based on the vertical line of the travel direction of the vehicle, the vehicle crossing angle range is determined, if the movement direction of the obstacle falls within the vehicle crossing angle range, the obstacle is indicated to meet the movement angle condition, then whether the obstacle meets the track end point condition is further judged, and if the obstacle meets the movement angle condition and the track end point condition at the same time, the behavior information of the obstacle passing through the sidewalk at the future time is determined.
Optionally, if the obstacle has met the movement angle condition, after the intersection points between the first travel track and the second travel track are ordered according to the travel time information of the obstacle, the first intersection point and the last intersection point are taken and can be respectively marked as the first intersection point of the obstacle and the last intersection point of the obstacle, if the last intersection point of the obstacle falls in the extending area of the sidewalk, the obstacle also meets the track end point condition, and the behavior information of the obstacle passing through the sidewalk at the future moment can be determined.
The steps S102 to S106 are performed by acquiring the running information of the vehicle on the current road section and acquiring the barrier information acquired by the vehicle on the current road section; determining a first travel track of the vehicle at a future time based on the travel information, and determining a second travel track of the obstacle at the future time based on the obstacle information; based on the first travel track and the second travel track, behavior information of the obstacle passing through the sidewalk at a future time is determined. That is, the embodiment of the application predicts the first running track of the vehicle at the future time according to the acquired vehicle running information, predicts the second running track of the obstacle at the future time according to the acquired obstacle information, judges the behavior information of the obstacle according to the intersection point between the first running track and the second running track, and finally determines whether the obstacle is ready to traverse the sidewalk based on the behavior information, thereby achieving the purpose of accurately judging the running intention of the obstacle, further realizing the technical effect of improving the traffic safety of the vehicle, and solving the technical problem of low traffic safety of the vehicle.
The above-described method of this embodiment is further described below.
As an optional embodiment, step S106, determining behavior information of the obstacle passing through the pavement at a future time based on the first travel track and the second travel track, includes: acquiring an intersection point set of a plurality of intersection points where the first running track and the second running track intersect; based on the intersection set, behavior information of the obstacle passing through the sidewalk at a future time is determined.
In this embodiment, the first travel track of the vehicle and the second travel track of the obstacle are each a plurality of discrete point sets, a plurality of intersection points existing between the first travel track set and the first travel track set may be obtained, the intersection points in the intersection point sets may be respectively ordered according to the travel time of the vehicle and the travel time of the obstacle, and behavior information of the obstacle passing through the sidewalk at a future time may be determined based on the ordering result, where the intersection points may be overlapping points between the first travel track set and the first travel track set.
As an alternative embodiment, the method further comprises: determining behavior information of the obstacle passing through the sidewalk at a future time based on the intersection set, including: sequencing a plurality of intersection points in an intersection point set according to the running time of the obstacle at the future moment to obtain a first sequencing result, and sequencing a plurality of intersection points in the intersection point set according to the running time of the vehicle at the future moment to obtain a second sequencing result; and determining behavior information of the obstacle passing through the sidewalk at a future moment based on the first sorting result and the second sorting result.
In this embodiment, the plurality of intersection points in the intersection point set may be sequenced according to the time sequence of the travel time of the obstacle according to the travel time of the obstacle at the future time, so as to obtain a first sequencing result, the plurality of intersection points in the intersection point set may be sequenced according to the time sequence of the travel time of the vehicle according to the travel time of the vehicle at the future time, so as to obtain a second sequencing result, and then the behavior information of the obstacle passing through the sidewalk at the future time may be determined based on the first sequencing result and the second sequencing result, where the travel time of the obstacle at the future time corresponds to the position of the obstacle at the future time, the travel time of the vehicle at the future time corresponds to the position of the vehicle at the future time, and the plurality of intersection points in the first sequencing result may be sequenced according to the travel time sequence of the obstacle, and the plurality of intersection points in the second sequencing result may be sequenced according to the travel time of the vehicle.
As an alternative embodiment, the method further comprises: determining behavior information of the obstacle passing through the sidewalk at a future time based on the first sorting result and the second sorting result, including: acquiring a first intersection point of the first ranking and a second intersection point of the second ranking in the first ranking result, and acquiring a third intersection point of the first ranking and a fourth intersection point of the second ranking in the second ranking result; determining a vector direction from the first intersection point to the second intersection point as a first traveling direction of the obstacle, and determining a vector direction from the third intersection point to the fourth intersection point as a second traveling direction of the vehicle; based on the first travel direction and the second travel direction, behavior information of the obstacle passing through the sidewalk at a future time is determined.
In this embodiment, after sorting a plurality of intersections in an intersection set according to travel time of an obstacle at a future time to obtain a first sorting result, obtaining a first intersection ranked first and a second intersection ranked second in the first sorting result, determining a vector direction from the first intersection to the second intersection as a first travel direction of the obstacle, sorting the plurality of intersections in the intersection set according to travel time of the vehicle at the future time to obtain a second sorting result, obtaining a third intersection ranked first and a fourth intersection ranked second in the second sorting result, determining a vector direction from the third intersection to the fourth intersection as a second travel direction of the vehicle, determining whether the obstacle satisfies a motion angle condition according to the first travel direction and the second travel direction, and further determining behavior information of the obstacle passing through the sidewalk at a future time, wherein the first intersection point and the second intersection point can be a first intersection point and a second intersection point in a first sequencing result, the third intersection point and the fourth intersection point can be a first intersection point and a second intersection point in a second sequencing result, the first running direction can be a running direction of the obstacle at the future time, the second running direction can be a running direction of the vehicle at the future time, and the movement angle condition can be used for judging whether the movement direction of the obstacle falls within a vehicle crossing angle range, wherein the vehicle crossing angle range is an area range determined by an included angle threshold value set by taking a vertical line of the running direction of the vehicle as a reference.
Alternatively, if the first intersection point and the second intersection point in the ordering result are the same, the motion direction of this point is expressed as the motion direction.
As an alternative embodiment, the method further comprises: the behavior information of the obstacle passing through the sidewalk at a future time is determined based on the first travel direction and an angle threshold value, wherein the angle threshold value is obtained by setting on the basis of a line perpendicular to the second travel direction.
In this embodiment, an angle threshold may be set based on a vertical line of the second traveling direction, an area surrounded by two lines with an angle between the two lines being the angle threshold is determined as a vehicle crossing angle area, whether the obstacle satisfies a movement angle condition is determined by judging whether the first traveling direction falls within the vehicle crossing angle area, if the obstacle satisfies the movement angle condition, whether the obstacle satisfies a track end point condition is further judged to further determine behavior information of the obstacle passing through the sidewalk at a future time, wherein the track end point condition may be used to judge whether a last intersection point of the obstacle falls within a sidewalk extending area, and the last intersection point is the last intersection point in the first sorting result according to the obstacle.
Alternatively, if the first direction of travel falls within the vehicle traversing angle region, it is indicated that the obstacle satisfies the movement angle condition.
Optionally, whether the obstacle meets the movement angle condition may also be determined by whether the included angle between the first driving direction and the line is smaller than an angle threshold, and if the included angle between the first driving direction and the line is smaller than the angle threshold, whether the obstacle meets the movement angle condition may be determined.
As an alternative embodiment, the method further comprises: acquiring a fifth intersection point of the ranking end in the first ranking result; and determining the behavior information of the obstacle passing through the pavement at the future moment in response to the fifth intersection point being in the pavement extending area of the current road section, wherein the included angle between the first traveling direction and the line is smaller than an angle threshold value, and the pavement extending area is obtained by extending the boundary of the pavement by a distance threshold value.
In this embodiment, after the plurality of intersection points in the intersection point set are ordered according to the running time of the obstacle at the future time, the fifth intersection point at the end of the rank in the first ordering result may be obtained after the first ordering result is obtained, and whether the obstacle meets the track end point condition is determined by judging whether the fifth intersection point is located in the pavement extension area of the current road section, if the obstacle meets the track end point condition, and the movement angle condition is met, that is, the included angle between the first running direction and the line is smaller than the angle threshold value, the behavior information of the obstacle passing through the pavement at the future time may be determined, which indicates that the obstacle may cross the pavement at the future time.
Alternatively, the area of extending the pavement may be an area range obtained after extending all boundaries of the pavement in parallel by a distance threshold, for example, extending all boundaries of the pavement in parallel by 5m, which is illustrated herein by way of example only and not by way of limitation.
It should be noted that, the sidewalk in the embodiment of the present invention does not merely refer to a crosswalk on which a zebra crossing is planned in an actual road, but represents a road through which all obstacles may pass, which is not particularly limited herein.
In the embodiment of the invention, the first running track of the vehicle at the future moment is predicted according to the acquired vehicle running information, the second running track of the obstacle at the future moment is predicted according to the acquired obstacle information, then the behavior information of the obstacle is judged according to the intersection point between the first running track and the second running track, and finally whether the obstacle is ready to traverse the sidewalk is determined based on the behavior information, so that the purpose of accurately judging the running intention of the obstacle is achieved, the technical effect of improving the traffic safety of the vehicle is achieved, and the technical problem of low traffic safety of the vehicle is solved.
Example 2
The following describes an embodiment of the present invention with reference to a preferred embodiment by taking an autonomous vehicle as an example.
An automatic driving vehicle is a type of intelligent automobile, also called a wheeled mobile robot, and mainly depends on an intelligent driver mainly based on a computer system in the automobile to realize the purpose of unmanned driving, so the automatic driving vehicle is also called an unmanned automatic driving vehicle.
The automatic driving vehicle mainly runs on a park closed road and an urban open road, the running road is complex in scene and changeable in traffic condition, a 4-Level (L4 for short) automatic driving system is required to realize the transverse or longitudinal avoidance action independently according to obstacles such as pedestrians and non-motor vehicles so as to prevent collision danger, but the pedestrians and the non-motor vehicles move flexibly, the uncertainty of movement is large, and particularly, various movement possibilities exist on a sidewalk, meanwhile, in order to meet the traffic rule, the crossing pedestrians and the non-motor vehicles also need to be decelerated or parked in time to give way, so that the running smoothness and safety of the automatic driving vehicle can be improved by analyzing the running states of the pedestrians and the obstacles such as the pedestrians, and the like, so that accidents such as collision and violation caused by incorrect judgment can be prevented.
The automatic driving vehicle is provided with an intelligent sensing system, a high-precision positioning system and a planning control system, can sense the surrounding environment of the automatic driving vehicle by utilizing a vehicle-mounted sensor, automatically plan a driving route and control the steering and the speed of the automatic driving vehicle according to the road, the position of the automatic driving vehicle and the obstacle information obtained by sensing, so as to achieve the aim of controlling the automatic driving vehicle to reach a preset target, enable the automatic driving vehicle to safely and reliably run on the road, and improve traffic safety.
The basis of safe and comfortable running of the automatic driving vehicle is reasonable longitudinal speed planning and speed control, so that the automatic driving vehicle needs to plan the running speed for a period of time or a distance in the future according to surrounding obstacles and road environment, the automatic driving vehicle also needs to accurately judge the running intention of a traveler and a non-motor vehicle due to the constraint of traffic rules, and the traveler and the non-motor vehicle need to be allowed to run on a sidewalk so as to prevent unnecessary deceleration or parking and giving way and cause traffic jam.
In the related art, a method for identifying pedestrian face information through a face recognition device and counting pedestrian face direction switching times is disclosed, the pedestrian face information is used as data to judge the crossing intention, but in the method, the pedestrian face information needs to be detected by a camera sensor, the requirements on the type of the sensor and the accuracy of the information are higher, the difficulty is higher, and the influence of traffic rules on the running intention of pedestrians and non-motor vehicles is not considered, so that the running intention of an obstacle cannot be accurately judged, and the technical problem of low traffic safety of an automatic driving vehicle is caused.
However, the embodiment of the invention provides a method for judging the crossing states of pedestrians and non-motor vehicles on a rule-based pavement, which can judge whether the pedestrians and the non-motor vehicles have the intention of crossing the pavement or not, and provide accurate information of deceleration and traffic information and barriers for a planning decision system so as to achieve the aim of accurately judging the driving intention of the barriers and realize the technical effect of improving the traffic safety of the automatic driving vehicles.
The following further describes a method for judging the crossing state of pedestrians and non-motor vehicles on the basis of rules.
Fig. 2 is a flowchart of a rule-based pedestrian and non-motor vehicle crossing status determination method according to an embodiment of the present invention, which may include the following steps, as shown in fig. 2.
Step S201, obstacle sensing information is input.
In the above step S201 of the present invention, the obstacle sensing information includes the type of obstacle, the absolute position of the obstacle, the movement information of the obstacle, and the predicted trajectory of the obstacle.
Step S202, judging whether an obstacle positioned near the sidewalk exists in front of the automatic driving vehicle according to the obstacle sensing information.
In the step S202 of the present invention, all the obstacles belonging to pedestrians and non-motor vehicles are first screened out according to the obstacle category, then the expansion distance is set to L (for example, 5 m), the area of all the sidewalks in the front fixed range D (for example, 100 m) of the vehicle is solved according to the vehicle positioning, global navigation and high-precision map information, all the sidewalk boundaries are expanded in parallel by L distances, the expanded area range is obtained, and all the obstacles falling in the calculated area are screened out according to the screened-out obstacles and the calculated area range information, so as to solve the uncertainty and perception errors of the pedestrian movement.
Fig. 3 is a schematic diagram of a pavement area according to an embodiment of the present invention, in which a dashed box represents an area range obtained after all pavement boundaries are expanded in parallel by L distances, a straight line with an arrow represents a direction of movement, that is, a pavement expansion area, as shown in fig. 3, a pedestrian 2, a pedestrian 3, and a pedestrian 4 are located in the pavement expansion area, a pedestrian 1 is located outside the pavement expansion area, a temporary distance between an obstacle outside the area and the pavement is far, and a crossing intention is not determined.
Step S203, it is determined whether or not an obstacle located near the sidewalk is in a moving state.
In the step S203 of the present invention, the obstacle selected in the step S203 is further selected according to the movement state of the obstacle, and the obstacle in the stationary state is filtered, as shown in fig. 3, the pedestrian 4 of the pedestrian 3 is in the movement state, and the pedestrian 2 is in the stationary state, so that the pedestrian 2 is a stationary obstacle and does not cross the pavement area, and therefore, the pedestrian 3 and the pedestrian 4 remain after the selection.
And S204, judging the motion angle track condition and the end point condition through the vehicle motion information and the screened obstacle motion information.
In the step S204 of the present invention, since the vehicle and the obstacle have a certain width, the future travel track of the vehicle and the predicted track of the obstacle are not particles, the predicted track of the obstacle and the future travel track of the vehicle can be separated into a plurality of points according to a fixed distance (for example, 0.5 m), whether the intersection point exists between the discrete point set of the obstacle track and the scattered point set of the future travel track of the vehicle is calculated, if the intersection point does not exist, it is indicated that the obstacle and the vehicle do not have collision risk, and the obstacle can be filtered out.
The obstacle track and the vehicle track are discrete point sets with short distance, so that a plurality of points exist in the obstacle to be combined with the vehicle, and the first intersection point and the last intersection point can be respectively marked as the first intersection point of the obstacle and the last intersection point of the obstacle according to the time sequence, namely the running point sequence of the obstacle; and the same motion information extraction is carried out on the own vehicle in the same processing mode of the obstacle motion information, and the first intersection point and the last intersection point of the own vehicle with the obstacle are respectively marked as the first intersection point and the last intersection point of the own vehicle according to the sequence order of the motion points of the own vehicle.
Based on the first and last intersection points of the obstacle and the first and last intersection points of the vehicle, the vector direction from the first intersection point to the second intersection point is expressed as a movement direction because the intersection time and the distance are short, and if the first point and the second point are the same, the movement direction of the first point and the second point is expressed as the movement direction.
Fig. 4 is a schematic view of an obstacle and a moving direction of a vehicle according to an embodiment of the present invention, as shown in fig. 4, a solid-line small square represents a moving track of the pedestrian 4, a solid-line arrow represents a moving direction of the pedestrian 4, that is, an obstacle moving direction, a broken-line small square represents a moving track of the vehicle, and a broken-line arrow represents a moving direction of the vehicle.
Optionally, an included angle threshold is set based on a perpendicular line of the traveling direction of the vehicle, so that the cross angle area of the vehicle can be further determined.
Alternatively, the movement angle condition may be determined by the obstacle movement direction and the vehicle crossing angle region obtained by the above calculation, as shown in fig. 4, and an angle threshold is set based on a perpendicular line of the vehicle movement direction, so that the angle range in fig. 4 may be further determined, and if the obstacle movement direction falls within the angle range, the movement angle condition is satisfied, as shown in fig. 4, the obstacle pedestrian 4 does not satisfy the movement angle condition.
Alternatively, the track end point condition may be determined by predicting the first intersection and the last intersection by the sidewalk area expansion boundary obtained by calculation in step S202 and the obstacle obtained by calculation in step S204, and if the obstacle last intersection falls within the sidewalk expansion area, the track end point condition is satisfied, for example, the pedestrian 3 in fig. 3 satisfies the track end point condition, and the pedestrian 4 does not satisfy the track end point condition.
Step S205, determining the crossing intention of the obstacle according to the determination result.
In the step S205 of the present invention, the movement angle condition and the trajectory end point condition of the step S204 are combined to comprehensively determine the crossing intention of the obstacle, and if both conditions are satisfied, it is determined that the crossing intention of the obstacle is present.
Fig. 5 is a schematic view of a movement trace intersection according to an embodiment of the present invention, as shown in fig. 5, a pedestrian 3 is an obstacle with a intention to cross a sidewalk, and a pedestrian 4 is an obstacle without a intention to cross a sidewalk.
In the embodiment of the invention, firstly, the obstacle in front of the automatic driving vehicle is screened according to the input obstacle sensing information, then the movement angle track condition and the last point condition are judged according to the vehicle movement information and the screened obstacle movement information, and whether the obstacle is ready to traverse the sidewalk is determined based on the judgment result, so that the purpose of accurately judging the driving intention of the obstacle is achieved, the technical effect of improving the passing safety of the automatic driving vehicle is achieved, and the technical problem of low passing safety of the vehicle is solved.
Example 3
According to an embodiment of the present invention, there is also provided an information processing apparatus of a vehicle. The information processing apparatus of the vehicle may be used to execute the information processing method of the vehicle in embodiment 1.
Fig. 6 is a schematic diagram of an information processing apparatus of a vehicle according to an embodiment of the present invention. As shown in fig. 6, the information processing apparatus 600 of the vehicle may include: an acquisition unit 601, a first determination unit 602, and a second determination unit 603.
The acquiring unit 601 is configured to acquire driving information of a vehicle on a current road segment, and obstacle information acquired by the vehicle on the current road segment, where the obstacle information at least includes position information of an obstacle at a current time and/or motion state information of the obstacle at the current time.
The first determining unit 602 is configured to determine a first travel track of the vehicle at a future time based on the travel information, and determine a second travel track of the obstacle at the future time based on the obstacle information, where the first travel track is a travel track of the vehicle at the future time, and the second travel track is a travel track of the obstacle at the future time.
The second determining unit 603 is configured to determine behavior information of the obstacle passing through the pavement at a future time based on the first driving track and the second driving track, where the behavior information is used to characterize a behavior of the obstacle passing through the pavement at the future time, and the pavement belongs to a current road section.
Optionally, the second determining unit 603 includes: the acquisition module is used for acquiring an intersection point set of a plurality of intersection points where the first running track and the second running track intersect; the first determining module is used for determining behavior information of the obstacle passing through the sidewalk at the future moment based on the intersection point set.
Optionally, the first determining module includes: the sequencing sub-module is used for sequencing a plurality of intersection points in the intersection point set according to the running time of the obstacle at the future moment to obtain a first sequencing result, and sequencing a plurality of intersection points in the intersection point set according to the running time of the vehicle at the future moment to obtain a second sequencing result; the first determining submodule is used for determining behavior information of the obstacle passing through the sidewalk at the future moment based on the first sequencing result and the second sequencing result.
Optionally, the first determining submodule includes: the first acquisition sub-module is used for acquiring a first intersection point of the first ranking and a second intersection point of the second ranking in the first ranking result, and acquiring a third intersection point of the first ranking and a fourth intersection point of the second ranking in the second ranking result; a second determination sub-module for determining a vector direction from the first intersection point to the second intersection point as a first traveling direction of the obstacle, and determining a vector direction from the third intersection point to the fourth intersection point as a second traveling direction of the vehicle; and the third determination submodule is used for determining the behavior information of the obstacle passing through the sidewalk at the future moment based on the first running direction and the second running direction.
Optionally, the first determining submodule includes: and a fourth determination submodule, configured to determine behavior information of the obstacle passing through the pavement at a future time based on the first traveling direction and an angle threshold value, where the angle threshold value is set by taking a line perpendicular to the second traveling direction as a reference.
Optionally, the first determining submodule includes: the second acquisition sub-module is used for acquiring a fifth intersection point of the ranking end in the first sequencing result; and the fifth determining submodule is used for determining the behavior information of the obstacle passing through the sidewalk at the future moment in response to the fact that the fifth intersection point is located in the sidewalk extending area of the current road section and the included angle between the first traveling direction and the line is smaller than an angle threshold value, wherein the sidewalk extending area is obtained by extending the boundary of the sidewalk by a distance threshold value.
In this embodiment, the acquiring unit is configured to acquire traveling information of the vehicle on a current road section, and obstacle information acquired by the vehicle on the current road section; a first determination unit configured to determine a first travel locus of the vehicle at a future time based on the travel information, and determine a second travel locus of the obstacle at the future time based on the obstacle information; the second determining unit is used for determining the behavior information of the obstacle passing through the sidewalk at the future moment based on the first running track and the second running track, so that the purpose of accurately judging the running intention of the obstacle is achieved, the technical effect of improving the traffic safety of the vehicle is further achieved, and the technical problem of low traffic safety of the vehicle is solved.
Example 4
According to an embodiment of the present invention, there is also provided a computer-readable storage medium including a stored program, wherein the apparatus in which the computer-readable storage medium is controlled to execute the information processing method of the vehicle in embodiment 1 when the program runs.
Example 5
According to an embodiment of the present invention, there is also provided a processor for running a program, wherein the program executes the information processing method of the vehicle in embodiment 1 when running.
Example 6
According to an embodiment of the present invention, there is also provided a vehicle for executing the information processing method of the vehicle in embodiment 1.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
In the foregoing embodiments of the present invention, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed technology may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of units may be a logic function division, and there may be another division manner in actual implementation, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method of the various embodiments of the present invention. And the aforementioned storage medium includes: a usb disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.
Claims (5)
1. An information processing method of a vehicle, comprising:
Acquiring driving information of a vehicle on a current road section, and acquiring barrier information acquired by the vehicle on the current road section, wherein the barrier information at least comprises position information of a barrier on the current road section at the current moment and/or motion state information of the barrier at the current moment;
Determining a first travel track of the vehicle at a future time based on the travel information, and determining a second travel track of the obstacle at the future time based on the obstacle information, wherein the first travel track is the travel track of the vehicle at the future time, and the second travel track is the travel track of the obstacle at the future time;
Determining behavior information of the obstacle passing through the sidewalk at the future moment based on the first running track and the second running track, wherein the behavior information is used for representing the behavior of the obstacle passing through the sidewalk at the future moment, and the sidewalk belongs to the current road section;
Wherein determining behavior information of the obstacle passing through the sidewalk at the future time based on the first travel track and the second travel track, comprises: acquiring an intersection point set of a plurality of intersection points where the first running track and the second running track intersect; determining the behavior information of the obstacle passing through the sidewalk at the future time based on the intersection set;
Determining the behavior information of the obstacle passing through the sidewalk at the future time based on the intersection set, including: sorting a plurality of intersection points in the intersection point set according to the running time of the obstacle at the future time to obtain a first sorting result, and sorting a plurality of intersection points in the intersection point set according to the running time of the vehicle at the future time to obtain a second sorting result; determining the behavior information of the obstacle passing through the sidewalk at the future time based on the first sorting result and the second sorting result;
Determining the behavior information of the obstacle passing through the sidewalk at the future time based on the first ordering result and the second ordering result, including: acquiring a first intersection point of the first ranking and a second intersection point of the second ranking in the first ranking result, and acquiring a third intersection point of the first ranking and a fourth intersection point of the second ranking in the second ranking result; determining a vector direction from the first intersection to the second intersection as a first travel direction of the obstacle, and determining a vector direction from the third intersection to the fourth intersection as a second travel direction of the vehicle; determining the behavior information of the obstacle passing through the sidewalk at the future time based on the first traveling direction and the second traveling direction;
The method further comprises the steps of: determining the behavior information of the obstacle passing through the sidewalk at the future time based on the first traveling direction and an angle threshold value, wherein the angle threshold value is obtained by setting on the basis of a line perpendicular to the second traveling direction;
The method further comprises the steps of: acquiring a fifth intersection point of the ranking end in the first ranking result; and determining the behavior information of the obstacle passing through the pavement at the future moment in response to the fifth intersection point being in a pavement extending area of the current road section, wherein the included angle between the first driving direction and the line is smaller than the angle threshold value, and the pavement extending area is obtained by extending the boundary of the pavement by a distance threshold value.
2. An information processing apparatus of a vehicle, comprising:
The system comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring running information of a vehicle on a current road section and barrier information acquired by the vehicle on the current road section, wherein the barrier information at least comprises position information of a barrier at the current moment and/or motion state information of the barrier at the current moment, and a sidewalk belongs to the current road section;
A first determining unit configured to determine a first travel locus of the vehicle at a future time based on the travel information, and determine a second travel locus of the obstacle at the future time based on the obstacle information, wherein the first travel locus is used for characterizing the travel locus of the vehicle at the future time, and the second travel locus is used for characterizing the travel locus of the obstacle at the future time;
A second determining unit configured to determine behavior information of the obstacle passing through the sidewalk at the future time based on the first travel track and the second travel track, wherein the behavior information is used to characterize a behavior of the obstacle passing through the sidewalk at the future time;
the second determining unit is used for obtaining an intersection point set of a plurality of intersection points where the first running track and the second running track intersect; determining the behavior information of the obstacle passing through the sidewalk at the future time based on the intersection set;
The second determining unit is further configured to rank the plurality of intersection points in the intersection point set according to the running time of the obstacle at the future time to obtain a first ranking result, and rank the plurality of intersection points in the intersection point set according to the running time of the vehicle at the future time to obtain a second ranking result; determining the behavior information of the obstacle passing through the sidewalk at the future time based on the first sorting result and the second sorting result;
The second determining unit is further configured to determine, based on the first ranking result and the second ranking result, the behavior information of the obstacle passing through the sidewalk at the future time, including: acquiring a first intersection point of the first ranking and a second intersection point of the second ranking in the first ranking result, and acquiring a third intersection point of the first ranking and a fourth intersection point of the second ranking in the second ranking result; determining a vector direction from the first intersection to the second intersection as a first travel direction of the obstacle, and determining a vector direction from the third intersection to the fourth intersection as a second travel direction of the vehicle; determining the behavior information of the obstacle passing through the sidewalk at the future time based on the first traveling direction and the second traveling direction;
The device is further used for determining the behavior information of the obstacle passing through the sidewalk at the future moment based on the first driving direction and an angle threshold value, wherein the angle threshold value is obtained by setting on the basis of a line perpendicular to the second driving direction;
The device is further used for obtaining a fifth intersection point of the ranking end in the first ranking result; and determining the behavior information of the obstacle passing through the pavement at the future moment in response to the fifth intersection point being in a pavement extending area of the current road section, wherein the included angle between the first driving direction and the line is smaller than the angle threshold value, and the pavement extending area is obtained by extending the boundary of the pavement by a distance threshold value.
3. A computer readable storage medium, characterized in that the computer readable storage medium comprises a stored program, wherein the program when run controls a device in which the computer readable storage medium is located to perform the method of claim 1.
4. A processor for running a program, wherein the program when run by the processor performs the method of claim 1.
5. A vehicle characterized in that the vehicle is configured to execute the information processing method of the vehicle in claim 1.
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| JP2019075055A (en) * | 2017-10-19 | 2019-05-16 | 株式会社東芝 | Information processor, information processing method and program |
| CN111915917A (en) * | 2019-05-07 | 2020-11-10 | 现代安波福Ad有限责任公司 | System and method for planning and updating trajectory of vehicle |
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| EP3205540A1 (en) * | 2016-02-09 | 2017-08-16 | Continental Automotive GmbH | Device for assisting a driver and a method for assisting a vehicle driver when driving a vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2019075055A (en) * | 2017-10-19 | 2019-05-16 | 株式会社東芝 | Information processor, information processing method and program |
| CN111915917A (en) * | 2019-05-07 | 2020-11-10 | 现代安波福Ad有限责任公司 | System and method for planning and updating trajectory of vehicle |
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