CN117533300A - Target monitoring method, device, vehicle and computer readable storage medium - Google Patents

Abstract

The embodiment of the invention discloses a target monitoring method, a device, a vehicle and a computer readable storage medium. Therefore, the interference targets in the monitoring target set are determined and screened out, so that the influence of the interference targets can be avoided in the blind area monitoring process of the target object, the false alarm condition caused by the interference targets in the blind area monitoring process of the target object is reduced, and the blind area monitoring function is optimized.

Description

Target monitoring method, device, vehicle and computer readable storage medium

Technical Field

The present invention relates to the field of traffic technologies, and in particular, to a target monitoring method, device, vehicle, and computer readable storage medium.

Background

The monitoring of the objects in the range of the blind areas around the target object can provide guidance for the use and operation process of the target object, and has important significance for the functional optimization of the target object. Taking blind area monitoring in a vehicle as an example, a BSD (Blind Spot Detection, blind area monitoring system) is a safety assistance system that detects whether a vehicle approaches or passes behind the vehicle and in the blind area of the rearview mirror by using high technology, and timely sends a reminder to the driver when the vehicle approaches or passes. Through blind area monitoring system, in driving in-process, uninterruptedly survey and remind, prevent that traffic safety accident from causing because of bad weather, driver negligence, rear-view mirror blind area, novice are on the way etc. potential danger in driving.

However, the existing blind area monitoring system based on millimeter wave radar is very easy to generate false alarm when running in special environmental conditions such as an overhead or a tunnel, so that the use experience of a user is influenced, and even the driving safety of a road is influenced when serious.

Disclosure of Invention

In view of this, embodiments of the present invention provide a target monitoring method, apparatus, vehicle, and computer readable storage medium, so as to reduce false alarm situations in the blind area monitoring process and optimize the blind area monitoring function.

In a first aspect, an embodiment of the present invention provides a target monitoring method, where the method includes:

acquiring environment information of a target object, wherein the environment information comprises a road edge marker corresponding to the position of the target object;

acquiring a monitoring target set corresponding to the target object;

determining an interference target in the monitoring target set according to the environment information;

and deleting the interference target from the monitoring target set, and determining an effective target set.

Further, the method further comprises:

and executing a blind area monitoring alarm flow based on the effective target set.

Further, the determining the interference target in the monitoring target set according to the environment information includes:

and determining a monitoring target positioned on the side of the road edge marker as the interference target in response to the fact that the distance between the target object and the road edge marker is smaller than a preset distance.

Further, the curb markers include a curb, a fence, a barrier strip, and/or a tunnel wall.

Further, the obtaining the monitoring target set corresponding to the target object includes:

acquiring monitoring data based on a sensor arranged on the target object;

and determining the monitoring target set according to the monitoring data.

Further, the acquiring the environmental information of the target object includes:

acquiring positioning information of a target object;

and matching the positioning information with map information, and determining a road edge marker corresponding to the position of the target object so as to determine the environment information.

In a second aspect, an embodiment of the present invention provides a target monitoring apparatus, the apparatus including:

the information acquisition unit is used for acquiring the environment information of the target object, wherein the environment information comprises a road edge marker corresponding to the position of the target object;

the set acquisition unit is used for acquiring a monitoring target set corresponding to the target object;

the target determining unit is used for determining interference targets in the monitoring target set according to the environment information;

and the target deleting unit is used for deleting the interference target from the monitoring target set and determining an effective target set.

Further, the target determining unit is specifically configured to determine, as the interference target, a monitoring target located on the side of the road edge marker in response to a distance between the target object and the road edge marker being smaller than a preset distance.

In a third aspect, an embodiment of the present invention provides a vehicle including:

the positioning system is used for acquiring the environment information of the target object, wherein the environment information comprises a road edge marker corresponding to the position of the target object;

the target monitoring system is used for acquiring a monitoring target set corresponding to the target object, determining a monitoring target located on the side of the road edge marker as the interference target in response to the fact that the distance between the target object and the road edge marker is smaller than a preset distance, deleting the interference target from the monitoring target set, and determining an effective target set.

Further, the target monitoring system includes:

and the sensor is used for acquiring monitoring data so that the target monitoring system determines a monitoring target set corresponding to the target object according to the monitoring data.

In a fourth aspect, embodiments of the present invention provide a computer-readable storage medium having a computer program stored therein, which when executed by a processor, implements the method steps of any of the above.

According to the technical scheme, the environment information of the target object and the monitoring target set corresponding to the target object are obtained, the interference targets in the monitoring target set are determined according to the environment information, the interference targets are deleted from the monitoring target set, and the effective target set is determined, so that the influence of the interference targets can be avoided in the blind area monitoring process of the target object, the false alarm condition caused by the interference targets in the blind area monitoring process of the target object is further reduced, and the blind area monitoring function is optimized.

Drawings

The above and other objects, features and advantages of the present invention will become more apparent from the following description of embodiments of the present invention with reference to the accompanying drawings, in which:

FIG. 1 is a flow chart of a target monitoring method of an embodiment of the present invention;

FIG. 2 is a flow chart of determining environmental information of a target object according to an embodiment of the present invention;

FIG. 3 is a flow chart of determining a set of monitoring targets according to an embodiment of the invention;

FIG. 4 is a schematic diagram of determining an effective target set according to an embodiment of the invention;

FIG. 5 is a schematic diagram of a target monitoring control system according to an embodiment of the present invention;

FIG. 6 is another flow chart of a target monitoring method of an embodiment of the present invention;

FIG. 7 is a flow chart of an interference target detection process of an embodiment of the present invention;

FIG. 8 is a schematic diagram of a target monitoring apparatus according to an embodiment of the present invention;

FIG. 9 is another schematic diagram of a target monitoring apparatus according to an embodiment of the present invention;

fig. 10 is a schematic view of a vehicle of an embodiment of the invention.

Detailed Description

The present invention is described below based on examples, but the present invention is not limited to only these examples. In the following detailed description of the present invention, certain specific details are set forth in detail. The present invention will be fully understood by those skilled in the art without the details described herein. Well-known methods, procedures, flows, components and circuits have not been described in detail so as not to obscure the nature of the invention.

Moreover, those of ordinary skill in the art will appreciate that the drawings are provided herein for illustrative purposes and that the drawings are not necessarily drawn to scale.

Unless the context clearly requires otherwise, the words "comprise," "comprising," and the like in the description are to be construed in an inclusive sense as opposed to an exclusive or exhaustive sense; that is, it is the meaning of "including but not limited to".

In the description of the present invention, it should be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Furthermore, in the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.

Along with the development of intelligent digital technology, the blind area monitoring function can be applied to various industries to provide guidance for the use and operation of different objects, but the false alarm condition in the blind area monitoring process also exists at the same time and needs to be optimized. In view of the above, embodiments of the present invention provide a target monitoring method, apparatus, vehicle, and computer readable storage medium, so as to reduce false alarm situations of a blind area monitoring system, optimize a blind area monitoring function, and further improve user experience.

In the following, a blind area monitoring system of a vehicle in the automatic driving field will be described as an example. It should be understood that the method in this embodiment can also be applied to a blind area monitoring process in other scenes, for example, blind area monitoring in a scene where a robot transports an article, etc., which is not limited herein.

The vehicle BSD blind area monitoring system is an alarm reminding type safety auxiliary function for overtaking a vehicle at the rear side of a driver. Usually by means of millimeter wave radars mounted in the left and right rear corners of the vehicle. However, when the vehicle runs on an overhead or tunnel (tunnel wall, overhead fence or metal fence), the blind area monitoring system is extremely prone to false alarm, for example, when the vehicle runs on lanes on the left side and the right side, due to the limitation of the millimeter wave radar on the detection and classification of stationary targets, the position points of the electromagnetic waves emitted by the millimeter wave radar at the corresponding side angles of the vehicle, which are reflected back by the fence or the wall, can be misjudged and clustered into conventional targets (two-wheel vehicles or sedans, commonly known as ghost targets) with speed, and therefore the BSD alarm is triggered, so that the functional experience of the user is affected, and the road driving safety is more affected in severe cases. Meanwhile, the user experience regarding BSD false triggering has long been one of the most plagued host factories and suppliers in the corner radar-related ADAS (advanced driving assistance system) function.

FIG. 1 is a flow chart of a target monitoring method according to an embodiment of the invention. As shown in fig. 1, the target monitoring method in the present embodiment includes the following steps.

In step S110, environmental information of the target object is acquired.

In this embodiment, taking the target object as an example of the vehicle, the environmental information of the target object may be determined based on the position information of the vehicle, where the environmental information of the target object includes a road edge marker corresponding to the position of the target object.

Optionally, the curb markers include a curb, a fence, a barrier strip, and/or a tunnel wall. It should be understood that, in other scenarios causing false alarms of the blind area monitoring system, the road edge markers in this embodiment may also select other markers, such as a road barrier set for repairing a road, or in a scenario where a robot transports an object, the road edge markers may be a shelf or the like near the moving path of the robot, which is only an example and not limiting the specific form of the road edge markers.

In step S120, a monitoring target set corresponding to the target object is obtained.

Alternatively, the monitoring target set of the target object in this embodiment may be implemented according to a sensor set on the target object, where the sensor may be a millimeter wave radar, an ultrasonic radar, a laser radar, or the like. Further, the sensor in the embodiment adopts millimeter wave radar, and the monitoring target set corresponding to the target object is determined through the monitoring data collected by the sensor on the target object.

Further, the set of monitoring targets may include valid targets and/or interfering targets. The effective target characterizes a real existing target in an alarm area capable of triggering a blind area monitoring alarm process, for example, other vehicles with overspeed tendency near the left side of the vehicle are effective targets when the vehicle is running in the rightmost lane. The interference target represents a ghost target in the alarm area, for example, when the vehicle runs on the rightmost lane, the target formed by clustering position points of electromagnetic waves emitted from the right side of the vehicle and reflected back through a wall is the interference target.

In step S130, interference targets in the monitoring target set are determined according to the environmental information.

In this embodiment, after the monitoring target set corresponding to the target object is obtained, because the probability of occurrence of the interference target at the corresponding side angle is greater when the vehicle runs on the leftmost or rightmost lane in the current road direction, the interference target in the monitoring target set is determined according to the environmental information of the target object, so as to improve the monitoring efficiency.

Optionally, in this embodiment, when determining the interference target in the monitoring target set, the monitoring target located on the side of the road edge marker is determined as the interference target in response to the distance between the target object and the road edge marker being smaller than the preset distance. The preset distance in this embodiment may be determined according to a specific usage scenario. Alternatively, the preset distance may be determined based on the lateral width of the vehicle, e.g., less than or equal to the lateral width of the vehicle. Therefore, when the distance between the target object and the road edge marker is smaller than the preset distance, it is obvious that a vehicle cannot be inserted between the target object and the road edge marker, and if a monitoring target corresponding to the road edge marker side is monitored, the monitoring target is obviously an interference target. Therefore, the embodiment can further improve the monitoring efficiency and accuracy.

Further, after the interference targets in the monitoring target set are determined, the blind area monitoring alarm function is triggered based on other effective targets except the interference targets in the monitoring target set, so that the false alarm condition of the blind area monitoring system caused by the interference targets can be reduced, and the blind area monitoring function is optimized.

In step S140, the interference target is deleted from the monitoring target set, and an effective target set is determined.

Optionally, after determining the interference targets in the monitoring target set, the embodiment deletes the interference targets from the monitoring target set by deleting, so as to determine an effective target set.

Optionally, the method further includes the following steps after determining the effective target set in the monitoring target set.

In step S150, a blind area monitoring alarm process is performed based on the valid target set.

In this embodiment, after determining an effective target set in the monitoring target set, a blind area monitoring alarm process is executed based on the effective target set to remind the target object or the driver of overspeed, lane change or other situations that may affect the running of the vehicle, so that the target object or the driver can take timely action, and driving safety is improved.

According to the technical scheme, the environment information of the target object and the monitoring target set corresponding to the target object are obtained, the interference targets in the monitoring target set are determined according to the environment information, the interference targets are deleted from the monitoring target set, and the effective target set is determined, so that the influence of the interference targets can be avoided in the blind area monitoring process of the target object, the false alarm condition caused by the interference targets in the blind area monitoring process of the target object is further reduced, and the blind area monitoring function is optimized.

Fig. 2 is a flowchart of determining environmental information of a target object according to an embodiment of the present invention. As shown in fig. 2, the environmental information in the present embodiment is determined based on the following steps.

In step S210, positioning information of the target object is acquired.

In this embodiment, the target object is a vehicle, and the environmental information of the target object includes a road edge marker corresponding to the position of the target object. The road edge markers comprise road edges, fences, isolation belts, tunnel walls and the like.

Optionally, in this embodiment, when determining the environmental information of the target object, first determining the positioning information of the target object, and then determining the environmental information of the location of the target object based on the positioning information.

Alternatively, the positioning information of the target object in this embodiment may be determined based on the vehicle positioning system, or may be determined by combining the vehicle positioning system with technologies such as bluetooth, wiFi, sensors, etc.

Further, since the existing vehicles are each provided with a positioning box that facilitates acquisition of vehicle position information, the positioning information of the target object in the present embodiment can be determined based on the positioning box of the target object. Therefore, the scheme of the embodiment can optimize the vehicle blind area monitoring function based on the existing vehicle architecture, has strong practicability and can reduce the optimization cost of the vehicle blind area monitoring function.

The Positioning Box (P-Box) generally includes a GNSS satellite high-precision Positioning module and an IMU inertial navigation module. The GNSS satellite high-precision positioning module is used for providing absolute positioning position information. The IMU inertial navigation module generally adopts a 3-axis gyroscope and a 3-axis accelerometer and is mainly used for outputting positioning position information through dead reckoning when GNSS signals are bad. In determining the positioning location information, the input signals of the IMU inertial navigation module generally comprise GNSS raw observables, IMU, vehicle speed and correction data, and the output signals comprise PVT positions (optional body attitude), speed and time stamps, etc. Therefore, in the embodiment, the positioning information of the target object can be acquired through the positioning box of the vehicle, the positioning information of the target object can be determined without adding other positioning devices, convenience is provided for determining the environment information of the target object, and the additional cost required by optimizing the blind area monitoring function of the vehicle is reduced.

In step S220, the environment information is determined according to the positioning information and the corresponding map information.

In this embodiment, after determining the positioning information of the target object, the positioning information of the target object is matched with the map information to determine the road edge marker corresponding to the position of the target object, thereby determining the environment information.

Alternatively, in order to improve the determination efficiency of the environmental information, the map information in the present embodiment is determined based on a high-precision map including position information and identification information corresponding to the road surface building. The environmental information in this embodiment includes road edge markers such as a road edge, a fence, a separation zone, and a tunnel wall corresponding to the position of the target object.

According to the technical scheme, positioning information of the target object is obtained through the positioning box, and environment information of the target object is determined based on the positioning information and corresponding map information. Therefore, on the basis of the existing vehicle architecture, the embodiment can determine the positioning information of the target object without adding other positioning devices, and determine the road edge marker corresponding to the position of the target object through the matching process of the positioning information of the target object and the map information, thereby providing convenience for determining the environment information of the target object and reducing the overall additional cost required by optimizing the blind area monitoring function of the vehicle.

FIG. 3 is a flow chart of determining a set of monitoring targets according to an embodiment of the invention. As shown in fig. 3, the monitoring target set in the present embodiment is determined based on the following steps.

In step S310, monitoring data is acquired based on sensors provided on the target object.

In this embodiment, the monitoring data is acquired through the sensors disposed on the target object, the sensors employ the millimeter wave radar, the monitoring data acquired by the sensors includes position information, time information, speed information and the like of electromagnetic waves emitted and reflected by the millimeter wave radar, the number of the sensors may be set to two, and the two sets of sensors are respectively disposed on the left side and the right side of the rear of the vehicle.

It should be noted that, the setting positions and the number of the sensors in the present embodiment may be selected according to the actual use situation, which is not limited in this way.

In step S320, a set of monitoring targets is determined from the monitoring data.

In this embodiment, the monitoring target set is determined by the monitoring data returned from the sensor. Alternatively, the monitoring target set may be determined by position information, time information, speed information, and the like of electromagnetic waves emitted and reflected by the millimeter wave radar. Since both stationary objects (including road edge markers) and non-stationary objects (moving vehicles around the target objects) around the target objects reflect the monitoring data, in order to improve the blind area monitoring efficiency, in this embodiment, after the monitoring data are acquired, the monitoring targets corresponding to all the monitoring data are determined as an initial target set, then the monitoring targets with the speed of 0 are deleted from the initial target set, and the target set formed by the monitoring targets with other speeds than 0 in the initial target set is determined as the monitoring target set.

Further, the monitoring target set includes a valid target and/or an interfering target. When the monitoring target set only comprises effective targets and the blind area monitoring alarm flow is triggered, guidance can be provided for vehicle running in an alarm prompt mode. Meanwhile, when the interference targets exist in the monitoring target set, the blind area monitoring alarm condition triggered by the interference targets is reduced or avoided by determining the interference targets in the monitoring target set, the adverse effect on vehicle running caused by false triggering of the vehicle blind area monitoring flow is reduced, and the safety of road driving is improved.

FIG. 4 is a schematic diagram of determining an effective target set according to an embodiment of the invention. As shown in fig. 4, the target object a in the present embodiment is located at the leftmost side of the road where the current traveling direction is located, and the leftmost side of the target object is provided with the isolation belt B. The monitoring target set corresponding to the target object A comprises a monitoring target C and a monitoring target D.

When determining an effective target set in the monitoring target set corresponding to the target object a, in this embodiment, an interference target is determined first based on a distance between the target object a and the road edge markers on two sides of the road, and then the effective target set in the monitoring target set is determined according to the interference target. Because the distance between the target object A and the road edge marker isolation belt B on the left side is smaller than the preset distance, and the monitoring target D is positioned on the left side of the target object, the monitoring target D is determined to be an interference target in the current monitoring target set, the interference target D is deleted from the current monitoring target set, an effective target in the current monitoring target set is determined to be a monitoring target C, and finally, a blind area monitoring alarm flow is triggered based on the effective target C so as to remind the target object or a driver of overspeed, lane change or other conditions which possibly influence the running of the vehicle, the target object or the driver can take operations in time, and the driving safety is improved.

Alternatively, as shown in fig. 4, since the distance between the target object a and the road edge marker isolation belt B on the left side is smaller than the preset distance, and the monitoring target D is located on the left side of the target object a, the monitoring target D may be an electromagnetic wave emitted from the sensor on the right rear side of the target object a, reflected by the vehicle C to the isolation belt B, and reflected by the isolation belt B back to the target object a, and a ghost target formed at a position close to the isolation belt B. Therefore, when determining the effective target set in the monitoring target set corresponding to the target object a, the embodiment may determine whether there is a mirror symmetry relationship between the monitoring target C and the monitoring target D according to the position relationship and the speed relationship between the monitoring target C and the monitoring target D, and determine that the monitoring target D is an interference target based on the position information of the monitoring target D when there is a mirror symmetry relationship between the monitoring target C and the monitoring target D, and further delete the interference target D from the current monitoring target set, and determine that the effective target in the current monitoring target set is the monitoring target C. Therefore, the accuracy of determining the interference target can be further improved, the situation that the real vehicle on the road surface enters the isolation belt side in a out-of-control manner and cannot trigger an alarm process is avoided, and driving safety is further improved.

FIG. 5 is a schematic diagram of a target monitoring control system according to an embodiment of the present invention. As shown in fig. 5, the target monitoring control system in the present embodiment includes an ADAS map controller 10, an ADAS domain controller 20, and a BCM module 30. The ADAS map controller 10 is configured to receive positioning information of a target object output by the positioning box 40 and map information output by the map module 50, and determine environmental information corresponding to the target object according to the positioning information and the map information. The ADAS domain controller 20 receives the monitoring data collected by the sensor 60, determines a monitoring target set according to the monitoring data, determines an interference target in the monitoring target set according to the environmental information, deletes the interference target from the monitoring target set, and determines an effective target set in the monitoring target set. The BCM module 30 is a vehicle body control module for controlling operations of various types of electric units mounted on an automobile. Specifically, the BCM module 30 in this embodiment is configured to execute a blind area monitoring alarm process according to an effective target determined from a monitoring target set, and send an alarm signal to remind a target object or a driver of overspeed, lane change or other situations that may affect the running of the vehicle, so that the target object or the driver can take timely action, and driving safety is improved.

FIG. 6 is another flow chart of a target monitoring method according to an embodiment of the invention. As shown in fig. 6, the target monitoring method in the present embodiment includes the following steps.

In step S610, positioning information of a target object is acquired.

In the present embodiment, the positioning information of the target object is determined based on the positioning box 40 shown in fig. 5.

In step S620, the environment information is determined according to the positioning information and the corresponding map information.

In this embodiment, by acquiring high-precision map information corresponding to positioning information of a target object, and matching the positioning information of the target object with map information of a high-precision map based on the ADAS map controller 10 in the target monitoring control system shown in fig. 5, the road edge markers such as a road edge, a fence, a median and a tunnel wall corresponding to the position of the target object are determined, so as to determine the environmental information of the target object.

In step S630, monitoring data is acquired based on the sensor on the target object setting.

Referring to fig. 5, in this embodiment, the sensor 60 is disposed on the target object to obtain monitoring data, where the sensor 60 uses a millimeter wave radar, and the monitoring data includes position information, time information, speed information, and the like of electromagnetic waves emitted and reflected by the millimeter wave radar.

In step S640, a monitoring target set is determined according to the monitoring data.

In this embodiment, a monitoring target set corresponding to a target object is determined by processing position information, time information, speed information and the like of electromagnetic waves emitted and reflected by the millimeter wave radar, where the monitoring target set includes an effective target and/or an interference target.

In step S650, interference targets in the monitoring target set are determined according to the environmental information.

In this embodiment, the monitoring target located on the side of the road edge marker is determined as the interference target by responding to the distance between the target object and the road edge marker being smaller than the preset distance.

In step S660, the interference targets are deleted from the monitoring target set, and an effective target set is determined.

In this embodiment, the ADAS domain controller 20 in the target monitoring control system shown in fig. 5 receives the monitoring data, determines a monitoring target set according to the monitoring data, determines an interference target in the monitoring target set according to the environmental information, and deletes the interference target from the monitoring target set, thereby determining an effective target in the monitoring target set.

In step S670, a blind area monitoring alarm process is performed based on the valid target set.

In this embodiment, as shown in fig. 5, after determining an effective target in the monitoring target set, the BCM module 30 in the target monitoring control system executes a blind area monitoring alarm process and sends out an alarm signal to remind the target object or the driver of overspeed, lane change or other situations that may affect the running of the vehicle, so that the target object or the driver can take an operation in time, and the driving safety is improved.

According to the technical scheme, the positioning information of the target object is determined based on the positioning box of the target object, the environment information of the target object is determined by matching the positioning information of the target object with the map information of the high-precision map, the interference target in the monitoring target set is determined based on the distance between the target object and the road edge marker in the environment information, the interference target is deleted from the monitoring target set, the blind area monitoring alarm process is triggered based on the effective target set in the monitoring target set, the blind area monitoring alarm condition triggered by the interference target is reduced or avoided, the adverse influence on vehicle running caused by false triggering of the blind area monitoring process of the vehicle is reduced, and the safety of road driving is improved.

Fig. 7 is a flowchart of an interference target detection process according to an embodiment of the present invention. As shown in fig. 7, the present embodiment realizes the interference target detection process by the following steps.

In step S710, position information of a target object is acquired.

Alternatively, the position information of the target object in the present embodiment may be position information after the positioning information determined based on the vehicle positioning box is matched with the map information of the high-precision map.

In step S720, it is determined whether the lane-level positioning information is normal.

In this embodiment, the lane-level information is used to represent the lane position of the vehicle on the road where the current driving direction is located, for example: a leftmost lane, a middle lane or a rightmost lane on a road where the west-east driving direction is located in the bidirectional driving road, and the like. When the acquired position information of the target object includes the lane-level information, it is determined that the lane-level positioning information of the target object is normal, and step S730 is continuously performed. When the obtained position information of the target object cannot reflect the lane-level information, determining that the lane-level positioning information of the target object is abnormal, and continuing to execute step S780, exiting the interference target detection flow (normal operation of the original blind area monitoring flow) described in the invention.

In step S730, it is determined whether the vehicle is in the leftmost or rightmost lane.

In the present embodiment, it is determined whether the vehicle is located in the leftmost vehicle or the rightmost lane in the current traveling road direction based on the lane-level positioning information of the target object, and when it is determined that the vehicle is located in the leftmost vehicle or the rightmost lane in the current traveling road direction, the step S740 is continued. When it is determined that the vehicle is located in the middle lane in the current traveling road direction, that is, the leftmost vehicle or the rightmost lane in the current traveling road direction, step S780 is continuously executed, and the disturbance target detection flow is exited.

In step S740, it is determined whether there is a road edge marker on both sides of the lane.

In this embodiment, by matching the positioning information of the vehicle with the map information of the high-precision map, it is determined whether there are road edge markers on both sides of the lane where the vehicle is located. Alternatively, the road edge markers may be road edges, fences, isolation strips, tunnel walls, and the like. When it is determined that there are road edge markers on both sides of the lane where the vehicle is located, step S750 is performed. And when the road edge markers are not found on the two sides of the lane where the vehicle is located, executing the step S780, and exiting the interference target detection flow.

In step S750, a target attribute of a monitoring target in the monitoring target set is determined.

In the present embodiment, the monitoring target is determined based on position information, time information, speed information, and the like of electromagnetic waves emitted and reflected by the millimeter wave radar on the vehicle, and the target attribute of the monitoring target is determined based on the distance between the vehicle and the road edge marker and the position of the monitoring target. Meanwhile, according to different target attributes of the monitoring targets, the monitoring targets in the monitoring target set can be divided into interference targets and effective targets. The effective target characterizes a real existing target in an alarm area capable of triggering a blind area monitoring alarm process, for example, when a vehicle runs on a rightmost lane, other vehicles which are close to the left side of the vehicle and have overspeed tendency are effective targets, and a target formed by clustering position points of electromagnetic waves emitted from the right side of the vehicle and reflected by a wall is an interference target.

In step S760, it is determined whether the monitoring target is within the alarm area.

In this embodiment, in order to improve the effectiveness of blind area monitoring, an alarm area is preset, and the alarm area may be an area within a certain distance range with the position of the vehicle as the center. When the monitoring target position is located in the alarm area, step S770 is performed, otherwise step S780 is performed.

In step S770, the interference targets within the alert area are discarded.

In this embodiment, the blind area monitoring false alarm condition is reduced by discarding the interference target in the alarm area, and the blind area monitoring function is optimized. After discarding the interference targets in the alarm area, if other effective targets exist in the alarm area, executing the blind area monitoring flow based on the effective targets, executing step S780 after executing the blind area monitoring flow, and exiting the interference target detection flow. Or after discarding the interference targets in the alarm area, if no other effective targets exist in the alarm area, directly executing step S780, and exiting the interference target detection flow.

In step S780, the interference target detection flow is exited.

According to the technical scheme, when the vehicle is determined to be in the leftmost or rightmost lane in the current driving road direction, the target attribute of the monitoring target is determined based on the distance between the vehicle and the road edge marker and the position of the monitoring target, the blind area monitoring alarm condition triggered by the interference target is reduced by discarding the interference target in the alarm area, the adverse effect on the driving of the vehicle caused by false triggering of the blind area monitoring flow of the vehicle is reduced, the blind area monitoring function of the vehicle is optimized, and the driving safety of the road is improved.

Fig. 8 is a schematic diagram of a target monitoring apparatus according to an embodiment of the present invention. As shown in fig. 8, the target monitoring apparatus in the present embodiment includes an information acquisition unit 1, a collection acquisition unit 2, a target determination unit 3, and a target deletion unit 4. Wherein the information acquisition unit 1 is used for acquiring environment information of a target object. The set acquisition unit 2 is used for acquiring a monitoring target set corresponding to the target object. The target determining unit 3 is configured to determine an interference target in the monitoring target set according to the environmental information. The target deleting unit 4 is configured to delete an interference target from the monitoring target set, and determine an effective target set.

Optionally, as shown in fig. 9, the target object in this embodiment is a vehicle, and the environmental information of the target object includes a route identifier corresponding to the position of the target object. The road edge markers comprise road edges, fences, isolation belts, tunnel walls and the like. The information acquisition unit 1 in the present embodiment includes a positioning information unit 11 and an environment information unit 12. Wherein the positioning information unit 11 is configured to obtain positioning information of the target object. The environment information unit 12 is used for determining the environment information according to the positioning information and the corresponding map information. Further, the positioning information unit 11 may employ a positioning box on the vehicle. The environment information unit 12 is specifically configured to match positioning information of a target object with map information, determine a road edge marker corresponding to a position of the target object, and further determine the environment information. The map information is determined based on a high-precision map including position information and identification information corresponding to road surface buildings.

Alternatively, as shown in fig. 9, the set acquisition unit 2 in the present embodiment includes a monitor data unit 21 and a target set unit 22. Wherein the monitoring data unit 21 is used for acquiring monitoring data based on a sensor arranged on the target object. The target set unit 22 is configured to determine a monitoring target set according to the monitoring data. Further, the target determining unit 3 in this embodiment determines the monitoring target located on the side of the road edge marker as the interference target specifically in response to the distance between the target object and the road edge marker being smaller than the preset distance. After the interference target is determined, the interference target is deleted from the monitoring target set by the target deleting unit 4, and an effective target set is determined.

Further, as shown in fig. 9, the target monitoring apparatus in this embodiment further includes, in addition to the information acquisition unit 1, the set acquisition unit 2, the target determination unit 3, and the target deletion unit 4, a monitoring alarm unit 5, where the monitoring alarm unit 5 is configured to execute a blind area monitoring alarm process based on the valid target set. Therefore, after the effective target set in the monitoring target set is determined, the blind area monitoring alarm flow is executed based on the effective target set so as to remind the target object or the driver of overspeed, lane change or other conditions possibly affecting the running of the vehicle, so that the target object or the driver can take timely operation, and the driving safety is improved.

According to the technical scheme, positioning information of a target object is determined based on an information acquisition unit, environment information of the target object is determined by matching the positioning information of the target object with map information of a high-precision map, monitoring data is acquired based on a sensor arranged on the target object through a set acquisition unit, a monitoring target set is determined according to the monitoring data, an interference target in the monitoring target set is determined based on the distance between the target object and a road edge marker in the environment information through a target determination unit, the interference target is deleted from the monitoring target set through a target deletion unit, finally, a blind area monitoring alarm process is triggered based on an effective target set in the monitoring target set through a monitoring alarm unit, the adverse effect on vehicle running caused by false triggering of the blind area monitoring process of a vehicle is reduced or avoided, and the blind area monitoring function of the vehicle is optimized.

Another embodiment of the invention relates to a vehicle. As shown in fig. 10, the vehicle 100 in the present embodiment includes a positioning system 110 and a target monitoring system 120. Wherein the positioning system 110 is configured to obtain environmental information of the target object. The target monitoring system 120 is configured to obtain a monitoring target set corresponding to the target object, determine an interference target in the monitoring target set according to the environmental information, delete the interference target from the monitoring target set, and determine an effective target set. The environmental information in this embodiment includes a road edge marker corresponding to the position of the target object, where the road edge marker includes a road edge, a fence, a median, and/or a tunnel wall.

Optionally, when determining the monitoring target set according to the environmental information, the target monitoring system 120 in this embodiment determines the monitoring target located on the side of the road edge marker as the interference target in response to the distance between the target object and the road edge marker being smaller than the preset distance. When the positioning system 110 obtains the environment information of the target object, the positioning system obtains the positioning information of the target object, matches the positioning information with the map information, determines the road edge marker corresponding to the position of the target object, and further determines the environment information. Wherein the positioning information is determined based on a positioning box of the target object. The map information is determined based on a high-precision map including position information and identification information corresponding to road surface buildings.

Further, the target monitoring system 120 in this embodiment includes a sensor, where the sensor is configured to acquire monitoring data, so that the target monitoring system 120 determines a set of monitoring targets corresponding to the target object according to the monitoring data.

Further, after determining the valid target set, the target monitoring system 120 in this embodiment is further configured to execute a blind area monitoring alarm process based on the valid target set.

According to the technical scheme, the environment information of the vehicle is acquired through the positioning system in the vehicle, the monitoring target set corresponding to the vehicle is acquired through the target monitoring system, the interference targets in the monitoring target set are determined according to the environment information, the interfered targets are deleted from the monitoring target set, and the effective target set is determined, so that the influence of the interference targets can be avoided in the blind area monitoring process of the vehicle, the false alarm condition caused by the interference targets in the blind area monitoring process of the vehicle is reduced, and the blind area monitoring function of the vehicle is optimized.

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

The present application is described with reference to flowchart illustrations of methods, apparatus (devices) and computer program products according to embodiments of the application. It will be understood that each of the flows in the flowchart may be implemented by computer program instructions.

Another embodiment of the invention relates to a computer program product comprising a computer program/instruction for implementing some or all of the steps in some or all of the method embodiments described above when executed by a processor. These computer programs/instructions may be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the programs/instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows. These computer programs/instructions may also be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows.

Another embodiment of the present invention relates to a computer readable storage medium, which may be a non-volatile storage medium, for storing a computer readable program for causing a computer to perform some or all of the above-described method embodiments.

That is, it will be understood by those skilled in the art that all or part of the steps in implementing the methods of the embodiments described above may be implemented by a program stored in a storage medium, where the program includes several instructions for causing a device (which may be a single-chip microcomputer, a chip or the like) or a processor (processor) to perform all or part of the steps in the methods of the embodiments described herein. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, and various modifications and variations may be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (11)

1. A method of target monitoring, the method comprising:

acquiring environment information of a target object, wherein the environment information comprises a road edge marker corresponding to the position of the target object;

acquiring a monitoring target set corresponding to the target object;

determining an interference target in the monitoring target set according to the environment information;

and deleting the interference target from the monitoring target set, and determining an effective target set.

2. The method according to claim 1, wherein the method further comprises:

and executing a blind area monitoring alarm flow based on the effective target set.

3. The method of claim 1, wherein said determining interference targets in said set of monitoring targets from said environmental information comprises:

and determining a monitoring target positioned on the side of the road edge marker as the interference target in response to the fact that the distance between the target object and the road edge marker is smaller than a preset distance.

4. A method according to any one of claims 1-3, wherein the curbside marker comprises a curbside, a fence, a barrier tape, and/or a tunnel wall.

5. The method of claim 1, wherein the obtaining the monitoring target set corresponding to the target object comprises:

acquiring monitoring data based on a sensor arranged on the target object;

and determining the monitoring target set according to the monitoring data.

6. The method of claim 1, wherein the obtaining the environmental information of the target object comprises:

acquiring positioning information of a target object;

and matching the positioning information with map information, and determining a road edge marker corresponding to the position of the target object so as to determine the environment information.

7. A target monitoring device, the device comprising:

the information acquisition unit is used for acquiring the environment information of the target object, wherein the environment information comprises a road edge marker corresponding to the position of the target object;

the set acquisition unit is used for acquiring a monitoring target set corresponding to the target object;

the target determining unit is used for determining interference targets in the monitoring target set according to the environment information;

and the target deleting unit is used for deleting the interference target from the monitoring target set and determining an effective target set.

8. The apparatus according to claim 7, wherein the target determining unit is specifically configured to determine a monitoring target located on the side of the road edge marker as the interference target in response to a distance between the target object and the road edge marker being smaller than a preset distance.

9. A vehicle, characterized in that the vehicle comprises:

the positioning system is used for acquiring the environment information of the target object, wherein the environment information comprises a road edge marker corresponding to the position of the target object;

the target monitoring system is used for acquiring a monitoring target set corresponding to the target object, determining a monitoring target located on the side of the road edge marker as the interference target in response to the fact that the distance between the target object and the road edge marker is smaller than a preset distance, deleting the interference target from the monitoring target set, and determining an effective target set.

10. The vehicle of claim 9, wherein the target monitoring system comprises:

and the sensor is used for acquiring monitoring data so that the target monitoring system determines a monitoring target set corresponding to the target object according to the monitoring data.

11. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored therein a computer program which, when executed by a processor, implements the method steps of any of claims 1-6.