CN110399688B

CN110399688B - Method and device for determining environment working condition of automatic driving and storage medium

Info

Publication number: CN110399688B
Application number: CN201910696829.2A
Authority: CN
Inventors: 唐得志; 宋廷伦; 赛影辉; 储亚峰; 崔晓迪; 李垚
Original assignee: Chery Automobile Co Ltd
Current assignee: Chery Automobile Co Ltd
Priority date: 2019-07-30
Filing date: 2019-07-30
Publication date: 2023-04-07
Anticipated expiration: 2039-07-30
Also published as: CN110399688A

Abstract

The application discloses a method and a device for determining an environment working condition of automatic driving and a storage medium, and belongs to the technical field of vehicle engineering. The method comprises the following steps: carrying out standardization processing on the acquired road working condition data; carrying out three-dimensional coverage combination on the road working condition data after the standardization processing to obtain a data string of a plurality of scene combinations; and simulating the data strings of the plurality of scene combinations to obtain the environment working conditions corresponding to the data strings of the plurality of scene combinations. According to the method and the device, the data strings of the scene combinations are obtained by standardizing the acquired road working condition data and performing three-dimensional coverage combination on the road working condition data after the standardized processing, so that the low redundancy, repeatability and easy expandability of the data strings of the scene combinations are ensured, the scene simulation can be performed on the data strings of the scene combinations, the reliable virtual reproduction of the environment working condition of automatic driving is completed, and the confidence coefficient of the environment working condition determination is improved.

Description

Automatic driving environment condition determining method and device and storage medium

Technical Field

The application relates to the technical field of vehicle engineering, in particular to a method and a device for determining an environment working condition of automatic driving and a storage medium.

Background

With the development of automobile technology, automobiles become more and more intelligent. The automatic driving technology of the intelligent automobile reduces the driving operation times of a driver and reduces the traffic accident rate caused by human factors, so that the intelligent automobile is more and more concerned. Currently, the automatic driving technology of the intelligent automobile may include determination of environmental conditions, environmental perception technology, path planning and decision technology, and motion control technology. The determination of the environmental working condition is a key technology for realizing positioning, path planning, decision and motion control of the intelligent automobile.

Currently, the determination of the environmental conditions of the automatic driving technique may be: based on the sensing scheme of artificial intelligence, the real-vehicle road test is carried out by utilizing artificial intelligence technologies such as deep learning and the like and carrying sensors such as vision, laser radar and the like. However, such a method is usually limited, the personnel and safety cost of the real vehicle road test is high, and it is difficult to effectively define whether the test conditions are complete and meet the requirement of mass production.

Disclosure of Invention

The embodiment of the application provides an automatic driving environment condition determining method, an automatic driving environment condition determining device and a storage medium, and aims to solve the problems that in the related technology, environment condition determination is limited and confidence of the determined environment condition is low. The technical scheme is as follows:

in one aspect, a method for determining an environment condition for automatic driving is provided, the method comprising:

carrying out standardization processing on the acquired road condition data;

performing three-dimensional coverage combination on the road working condition data after the standardization treatment to obtain a data string of a plurality of scene combinations;

and simulating the data strings of the plurality of scene combinations to obtain the environment working conditions corresponding to the data strings of the plurality of scene combinations.

In some embodiments, the three-dimensional coverage combining the road condition data after the normalization processing to obtain a data string of a plurality of scene combinations includes:

determining a first set group from a plurality of data sets in the road condition data;

determining a first set of operating conditions based on the first set of groups;

determining a second working condition set based on the first set group and a reference set, wherein the reference set is any data set except the data set in the first set group in the road working condition data;

determining a data string of the plurality of scene combinations based on the first set of operating conditions and the second set of operating conditions.

In some embodiments, the determining a first set of sets from a plurality of sets of data in the road condition data comprises:

numbering a plurality of data sets included in the road condition data;

and determining n data sets with numbers at the top n as the first set group, wherein n is a positive integer greater than or equal to 3.

In some embodiments, said determining a first set of operating conditions based on said first set of conditions comprises:

determining a plurality of first data strings based on the data included in each data set in the first set group, wherein n data in each first data string in the plurality of first data strings are respectively the data in each data set in the first set group, and the plurality of first data strings are different from each other;

adding the plurality of first data strings to the first set of operating conditions.

In some embodiments, said determining a second set of operating conditions based on said first set of sets and a reference set comprises:

determining the first set group as a target set group, and determining the reference set as a target reference set;

combining the target reference set with every two data sets in the target set group to obtain a plurality of second set groups;

for any second set group in the plurality of second set groups, determining a plurality of second data strings based on data included in each data set in the any second set group, wherein n data in each second data string in the plurality of second data strings are respectively data in each data set in the any second set group, and the plurality of second data strings are different from each other;

adding the plurality of second data strings to a second set of operating conditions.

In some embodiments, the determining the data string of the plurality of scene combinations based on the first set of operating conditions and the second set of operating conditions comprises:

adding the data in the target reference set to each first data string in the first working condition set in a circulating mode to obtain a plurality of third data strings;

adding the plurality of third data strings to a third set of operating conditions;

comparing each of the plurality of second data strings in the second set of conditions to a plurality of third data strings in the third set of conditions;

for any second data string in the plurality of second data strings, deleting any second data string from the second working condition set when any third data string in the plurality of third data strings comprises the same data string as any second data string;

when a second data string contained in any third data string does not exist in the second working condition set, expanding the second working condition set according to a default principle to obtain a fourth working condition set, wherein the fourth working condition set comprises a plurality of fourth data strings;

adding a fourth data string in the fourth working condition set, which is different from any third data string in the third working condition set, to the third working condition set;

when the sets of which the data are not added into the third working condition set exist in the plurality of data sets, determining the target reference set and the target set group as a first set group, selecting a data set of which the data do not appear in any working condition set from the plurality of data sets as a reference set, returning to the operation of determining the first set group as a target set group and determining the reference set as a target reference set until the data in the plurality of sets are all added into the third working condition set;

and determining the data string in the third working condition set as the data string of the plurality of scene combinations.

In some embodiments, the road condition data includes a set of number of lanes, a set of lane widths, a set of road radii of curvature, a set of grades, a set of road materials, a set of road feature types, a set of weather type quantification levels, a set of signage information, and a set of traffic flow models.

In another aspect, an automatic driving environment condition determining apparatus is provided, the apparatus including:

the processing module is used for carrying out standardization processing on the acquired road working condition data;

the combination module is used for carrying out three-dimensional coverage combination on the road working condition data after the standardization processing to obtain a data string of a plurality of scene combinations;

and the simulation module is used for simulating the data strings of the plurality of scene combinations to obtain the environment working conditions corresponding to the data strings of the plurality of scene combinations.

In some embodiments, the combination module comprises:

a first determination submodule for determining a first set group from a plurality of data sets in the road condition data;

a second determining submodule, configured to determine a first set of operating conditions based on the first set group;

a third determining submodule, configured to determine a second working condition set based on the first set group and a reference set, where the reference set is any one of the data sets in the road working condition data except the data set in the first set group;

a fourth determining submodule, configured to determine a data string of the plurality of scene combinations based on the first set of operating conditions and the second set of operating conditions.

In some embodiments, the first determination submodule is to:

numbering a plurality of data sets included in the road condition data;

In some embodiments, the second determination submodule is to:

In some embodiments, the third determination submodule is to:

for any second set group in the second set groups, determining a plurality of second data strings based on data included in each data set in the second set group, wherein n data in each second data string in the second data strings are data in each data set in the second set group, and the second data strings are different from each other;

In some embodiments, the fourth determination submodule is to:

adding the data in the target reference set to each first data string in the first working condition set according to a cyclic mode to obtain a plurality of third data strings;

when the data in the plurality of data sets are not added into the set of the third working condition set, determining the target reference set and the target set group as a first set group, selecting a data set of which the data does not appear in any working condition set from the plurality of data sets as a reference set, returning to the operation of determining the first set group as a target set group and determining the reference set as a target reference set until the data in the plurality of sets are all added into the third working condition set;

In another aspect, a computer-readable storage medium is provided, in which a computer program is stored, which, when being executed by a processor, implements an autonomous driving environment condition determining method as described above.

In another aspect, a terminal is provided, which includes:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to perform the steps of one of the autonomous driving environment condition determination methods provided above.

In another aspect, a computer program product comprising instructions is provided, which when run on a computer causes the computer to perform the steps of a method for determining an environmental condition for autonomous driving as provided above.

The beneficial effects brought by the technical scheme provided by the embodiment of the application at least can comprise:

according to the method and the device, the acquired road working condition data can be subjected to standardization processing, the road working condition data subjected to standardization processing is subjected to three-dimensional coverage combination, and the data strings of a plurality of scene combinations are obtained, so that the low redundancy, repeatability and easy expandability of the data strings of the scene combinations are ensured, meanwhile, the data strings of the scene combinations can be subjected to scene simulation, the reliable virtual reproduction of the environment working condition of automatic driving is completed, the confidence coefficient of environment working condition determination is improved, a worker does not need to perform the test of the environment working condition on the spot, and the safety of the environment working condition determination is improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a flow chart of an environment condition determination method for automatic driving according to an embodiment of the present disclosure;

FIG. 2 is a flow chart of another method for determining an environment condition for automatic driving according to an embodiment of the present disclosure;

FIG. 3 is a schematic structural diagram of an automatic driving environment condition determining device according to an embodiment of the present disclosure;

FIG. 4 is a schematic structural diagram of an assembly module according to an embodiment of the present disclosure;

fig. 5 is a schematic structural diagram of a terminal according to an embodiment of the present application.

Detailed Description

To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

Before explaining the embodiments of the present application in detail, the application scenarios related to the embodiments of the present application are explained first.

With the development of automobile technology, automobiles become more intelligent. Such as automotive autopilot technology. The realization of the automatic driving technology of the intelligent automobile needs to depend on the determination of environmental conditions, an environmental perception technology, a path planning and decision technology and a motion control technology. The determination of the environmental working condition is a key technology for realizing positioning, path planning, decision and motion control of the intelligent automobile. Currently, testing can be performed by building a limited typical working condition or a closed loop field, but the testing efficiency and confidence are not high.

Based on such a scenario, the embodiment of the application provides an automatic driving environment condition determining method capable of improving the working condition confidence and the working condition acquisition safety.

After the application scenarios of the embodiments of the present application are described, the method for determining the environment condition of automatic driving provided by the embodiments of the present application will be described in detail with reference to the accompanying drawings.

Fig. 1 is a flowchart of an automatic driving environment condition determining method according to an embodiment of the present disclosure, and referring to fig. 1, the method is applied to a terminal, and includes the following steps.

Step 101: and carrying out standardization processing on the acquired road condition data.

Step 102: and carrying out three-dimensional coverage combination on the road working condition data after the standardization treatment to obtain a data string of a plurality of scene combinations.

Step 103: and simulating the data strings of the plurality of scene combinations to obtain the environment working conditions corresponding to the data strings of the plurality of scene combinations.

based on the first set of operating conditions and the second set of operating conditions, a data string of the plurality of scene combinations is determined.

In some embodiments, determining the first set of sets from the plurality of sets of data in the road condition data comprises:

numbering a plurality of data sets included in the road condition data;

and determining n data sets with numbers in the top n as the first set group, wherein n is a positive integer greater than or equal to 3.

In some embodiments, the determining a first set of operating conditions based on the first set of conditions comprises:

In some embodiments, determining the second set of operating conditions based on the first set of sets and the reference set comprises:

for any second set group in the second set groups, determining a plurality of second data strings based on the data included in each data set in the second set group, wherein n data in each second data string in the second data strings are respectively the data in each data set in the second set group, and the second data strings are different from each other;

In some embodiments, determining the data string for the plurality of scene combinations based on the first set of operating conditions and the second set of operating conditions comprises:

for any second data string in the plurality of second data strings, deleting the any second data string from the second working condition set when any third data string in the plurality of third data strings comprises the same data string as the any second data string;

when the second working condition set does not have a second data string contained in any third data string, expanding the second working condition set according to a default principle to obtain a fourth working condition set, wherein the fourth working condition set comprises a plurality of fourth data strings;

adding a fourth data string in the fourth working condition set, which is different from any third data string in the third working condition set, into the third working condition set;

when the sets of the plurality of data sets in which data is not added to the third working condition set exist, determining the target reference set and the target set group as a first set group, selecting a data set in which data is not present in any working condition set from the plurality of data sets as a reference set, returning to the operation of determining the first set group as a target set group and determining the reference set as a target reference set until the data in the plurality of sets are all added to the third working condition set;

All the above optional technical solutions can be combined arbitrarily to form an optional embodiment of the present application, and the present application embodiment is not described in detail again.

Fig. 2 is a flowchart of an automatic driving environment condition determining method according to an embodiment of the present application, and referring to fig. 2, the method includes the following steps.

Step 201: the terminal acquires road condition data.

Because the environment condition of the automatic driving is related to the road condition data, the terminal needs to acquire the road condition data when determining the environment condition of the automatic driving.

As an example, the terminal may obtain the road condition data from various servers related to the road condition, for example, a map server, a weather forecast platform, and the like. Alternatively, the terminal may receive road condition data input by a user through a specified operation, which may be a click operation, a slide operation, an input operation, a voice operation, or the like.

It should be noted that, in order to ensure the confidence of the determined environmental condition, the road length of the condition scene may be set to a preset length in advance, for example, may be set to 1000 meters. The road condition data may include road type data, road characteristic data, road vehicle data, road signboard information data, and road weather factor data. The road type data may include a lane number set, a lane width set, a road curvature radius set, a gradient set, and a road adhesion coefficient set (i.e., a road material set); the road characteristic data may comprise a set of road characteristic types; the road sign information data may comprise a set of signage information; the road weather factor data can comprise a weather type set, a weather type quantization level set and the like; the road-vehicle data includes a set of traffic flow models.

In some embodiments, the set of lane numbers is a set of possible lanes on the road, for example, the data included in the set of lane numbers is: 2. 3, 4, 6 and 8. The lane width set is a set of possible lane widths in a road, for example, the data included in the lane width set is: 3 meters, 3.25 meters, 3.5 meters, 3.75 meters; the set of curvature radii of the road is a set of curvature radii of the road that may exist, for example, the data included in the set of curvature radii of the road may be: 30 meters, 65 meters, 100 meters, 200 meters, 400 meters, 700 meters, 1000 meters; the gradient set is a set of possible gradients of a road, and the data included in the gradient set may be: 0.02, 0.04, 0.06, 0.08. The road material set is a set of possible materials of a road, for example, the data included in the road material set may be: AC (asphalt concrete), CC (cement concrete), AM (asphalt macadam), SR (gravel). The road feature type set is a set of types that may exist in a road, for example, the data included in the road feature set may be: TN (tunnel), BR (bridge), BS (bus station), TG (toll station), GS (gas station), CR (intersection). The set of weather types is a set formed by types of weather which may exist, and the data included in the set of weather types may be: r (rainy day), S (snowy day), F (foggy day). The set of weather type quantization levels is a set of quantization levels that may exist after the weather is subjected to level quantization, and the set of weather type quantization levels may include data of: s (small), M (medium), G (large). The sign information set is a set of sign types that may appear in a road, and the data included in the sign information set may be: SL (speed limit type sign), WS (warning type sign), GU (guidance type sign). The traffic flow model set is a set of vehicle traffic flow models describing the number of vehicles that may appear in the road, and the data included in the traffic flow model set may be: 2 (2 scene vehicle traffic flow models), 3 (3 scene vehicle traffic flow models), 4 (4 scene vehicle traffic flow models).

Step 202: and the terminal carries out standardization processing on the acquired road working condition data.

The road condition data acquired by the terminal may not be uniform, so that the confidence coefficient of the environmental condition determination is not high, and therefore the terminal can perform standardized processing on the acquired road condition data.

As an example, the operation of the terminal to perform the standardization processing on the acquired road condition data may be: and unifying the measurement units of the working condition data of various types of roads. For example, the length units are unified into meters, the width units are unified into meters, and the like.

Step 203: and the terminal performs three-dimensional coverage combination on the road working condition data after the standardization processing to obtain a data string of a plurality of scene combinations.

Because the road condition data are more and the data strings formed are more, the terminal can realize the validity of the combined test in a three-dimensional covering mode in order to prevent the data strings formed by the condition data from being more and repeated and improve the reliability of determining the environment condition. That is, the terminal may perform three-dimensional coverage combination on the road condition data after the standardization processing to obtain a data string of a plurality of scene combinations.

As an example, the operation of the terminal performing three-dimensional coverage combination on the road condition data after the standardization processing to obtain the data string of the plurality of scene combinations may include the following operations of steps a to D.

Step A: the terminal determines a first set group from a plurality of data sets in the road condition data.

As an example, the operation of the terminal determining the first set group from the plurality of data sets in the road condition data may be: numbering a plurality of data sets included in the road condition data; and determining n data sets with numbers in the top n as the first set group, wherein n is a positive integer greater than or equal to 3.

It should be noted that the terminal may randomly number a plurality of data sets included in the road condition data, or number the data sets according to the influence level on the environmental condition, that is, when the data sets are numbered in the order from small to large, and the influence on the environmental condition is larger when the number is smaller, the data set with larger influence on the environmental condition may be numbered in front.

For example, the terminal may number the set of lane numbers as P ₁ Number the lane width set as P ₂ Numbering the road curvature radius set as P ₃ Number gradient set as P ₄ Numbering the road material set as P ₅ Numbering the road characteristic type set as P ₆ Numbering the set of weather types as P ₆ Number the set of weather type quantization levels as P ₇ Number the label information set as P ₈ Numbering the traffic flow model set as P ₉ 。

It should be noted that, after the plurality of data sets are numbered, the numbering may be performed according to the degree of influence on the environmental condition, the data set numbered in the first n has a large influence on the environmental condition, and the first set group is a basis for performing three-dimensional coverage combination, so that the terminal may determine the n data sets numbered in the first n as the first set group. For example, when n is 3 and the number of lanes is numbered P ₁ Number of lane width set is P ₂ The road curvature radius set number is P ₃ In this case, a set of the number of lanes, a set of the width of the lane, and a set of the curvature radius of the road may be determined as a first set group (P) ₁ ，P ₂ ，P ₃ )。

In some embodiments, the terminal may determine the first set group not only from the plurality of data sets in the road condition data in the above-described manner, but also from the plurality of data sets in the road condition data in other manners. For example, the terminal may randomly select n data sets from a plurality of data sets in the road condition data, and determine the selected n data sets as a first set group, where n is a positive integer greater than or equal to 3.

As an example, before determining the first set group from the plurality of data sets in the road condition data, when data in any one of the plurality of data sets has a size relationship or an order relationship, the terminal may further sort the data in the any one of the plurality of data sets in an ascending order according to size.

And B: the terminal determines a first set of operating conditions based on the first set of groups.

As an example, the terminal may determine the first set of operating conditions based on the first set of groups by: determining a plurality of first data strings based on data included in each data set in a first set group, wherein n data in each first data string in the plurality of first data strings are respectively data in each data set in the first set group, and the plurality of first data strings are different from each other; adding the plurality of first data strings to the first set of operating conditions. That is, the terminal may traverse each data set of the first set group, so that the obtained any first data string includes data in each data set of the first set group, and data in the same data set includes only 1 data in any first data string.

For example, when the first set includes the set P of the number of lanes ₁ Set of lane widths P ₂ And road curvature radius set P ₃ And a set of number of lanes P ₁ Data included are 2 and 3, set of lane widths P ₂ The data included are: 3 meters and 3.25 meters; set of road curvature radii P ₃ The data included are: at 30 meters and 65 meters, the terminal may traverse each data set of the first set group, and the obtained plurality of first data strings are (2, 3 meters, 30 meters), (2, 3 meters, 65 meters), (2,3.25 meters, 30 meters), (2, 3.25 meters, 65 meters), (3, 3 meters, 30 meters), (3, 3 meters, 65 meters), (3, 3.25 meters, 30 meters), and (3, 3.25 meters, 65 meters). A plurality of first data strings are added to a first set of conditions Zs, which may be ((2, 3, 30), (2, 3, 65), (2, 3, 25, 30), (2, 3, 25, 65), (3, 30), (3, 65), (3, 25, 30), (3, 25, 65)).

Step C: the terminal determines a second working condition set based on the first set group and a reference set, wherein the reference set is any data set in the road working condition data except the data set in the first set group.

As an example, the terminal may determine the second set of operating conditions based on the first set group and the reference set by: determining the first set group as a target set group, and determining the reference set as a target reference set; combining the target reference set with every two data sets in the target set group to obtain a plurality of second set groups; for any second set group in the plurality of second set groups, determining a plurality of second data strings based on data included in each data set in the any second set group, wherein n data in each second data string in the plurality of second data strings are respectively data in each data set in the any second set group, and the plurality of second data strings are different from each other; adding the plurality of second data strings to a second set of operating conditions.

Since the plurality of data sets may be numbered in step a, in step C, the terminal may determine any data set of the road condition data except the data set in the first set group as the reference set, and may also determine the reference set according to the number of the plurality of data sets, for example, when the first set group is (P) ₁ ，......，P _n ) Then P can be determined _n+1 Is a reference set. Thereafter, P may be added _n+1 And target set group (P) ₁ ，......，P _n ) Every two data sets in (b) are combined, i.e., P is combined _n+1 And target set group (P) ₁ ，......，P _n ) All 2-dimensional items in (a) are combined.For example, when n =3, the obtained plurality of second set groups may include (P) ₁ ，P ₂ ，P ₄ )、(P ₂ ，P ₃ ，P ₄ ) And (P) ₁ ，P ₃ ，P ₄ ). And traversing the three-dimensional data string of each second set group in the plurality of second set groups to obtain a plurality of second data strings, that is, for any second set group, the terminal may traverse each data set of the second set group, so that the obtained any second data string includes the data in each data set in the second set group, and the data in the same data set only includes 1 data in any second data string. And then adding a plurality of second data strings into the second operating condition set Ts.

For example, when n =3, P ₄ Is a set of slopes, and the set of slopes P ₄ The data in (1) are: 0.02 and 0.04, and the set of lane numbers P ₁ Data included are 2 and 3, set of lane widths P ₂ The data included are: 3 meters and 3.25 meters; set of road curvature radii P ₃ The data included are: at 30 meters and 65 meters, from the second set (P) ₁ ，P ₂ ，P ₄ ) The plurality of second data strings determined in (b) are (2, 3 meters, 0.02), (2, 3.25 meters, 0.02), (3, 3 meters, 0.02), (3, 3.25 meters, 0.02), (2, 3 meters, 0.04), (2, 3.25 meters, 0.04), (3, 3 meters, 0.04), and (3, 3.25 meters, 0.04), from the second set group (P) ₂ ，P ₃ ，P ₄ ) Determine a plurality of second data strings as (3 meters, 30 meters, 0.02), (3 meters, 65 meters, 0.02), (3.25 meters, 30 meters, 0.02), (3.25 meters, 65 meters 0.02), (3 meters, 30 meters 0.04), (3 meters, 65 meters, 0.04), (3.25 meters, 30 meters, 0.04), and (3.25 meters, 65 meters, 0.04), from the second set of (P) groups ₁ ，P ₃ ，P ₄ ) The plurality of second data strings determined in (2, 30 meters, 0.02), (2, 65 meters, 0.02), (3, 30 meters, 0.02), (3, 65 meters, 0.02), (2, 30 meters, 0.04), (2, 65 meters, 0.04), (3, 30 meters, 0.04), and (3, 65 meters, 0.04). Adding the plurality of second data strings to the second set of operating conditions Ts.

Step D: and the terminal determines a data string of the scene combinations based on the first working condition set and the second working condition set.

As an example, the operation of the terminal determining the data string of the plurality of scene combinations based on the first condition set and the second condition set may be: adding data in the target reference set to each first data string in the first working condition set in a circulating mode to obtain a plurality of third data strings; adding a plurality of third data strings to a third set of operating conditions; comparing each of a plurality of second data strings in the second set of conditions to a plurality of third data strings in a third set of conditions; for any second data string in the plurality of second data strings, deleting any second data string from the second working condition set when any third data string in the plurality of third data strings comprises the same data string as any second data string; when the second working condition set does not have a second data string contained in any third data string, expanding the second working condition set according to a default principle to obtain a fourth working condition set, wherein the fourth working condition set comprises a plurality of fourth data strings; adding a fourth data string in the fourth working condition set, which is different from any third data string in the third working condition set, into the third working condition set; when a set with data not added into a third working condition set exists in the plurality of data sets, determining a target reference set and a target set group as a first set group, selecting a data set with data not appearing in any working condition set from the plurality of data sets as a reference set, returning to the operation of determining the first set group as the target set group and determining the reference set as the target reference set until the data in the plurality of sets are all added into the third working condition set; and determining the data string in the third working condition set as a data string of a plurality of scene combinations.

As can be seen from the above description, the first condition set may include a plurality of first data strings, and the number of the plurality of first data strings may be the same as or different from the number of data in the target reference set. When the target reference set is not the same as the first operating condition set, the data in the target reference set needs to be added to the first operating condition set in a cyclic mode. For example, when the first set of conditions is ((2, 3 m, 30 m), (2, 3 m, 65 m), (2, 3.25 m, 30 m), (2, 3.25 m, 65 m), (3, 3 m, 30 m), (3, 3 m, 65 m), (3, 3.25 m, 30 m), (3, 3.25 m, 65 m)), the target reference set is a set of slopes, and the set of slopes is (0.02, 0.04), the third set of conditions obtained by adding data in the target reference set to the first set of conditions in a cyclic manner may be ((2, 3 m, 30 m, 0.02), (2, 3 m, 65 m, 0.04), (2, 3.25 m, 30 m, 0.02), (2, 3.25 m, 65 m, 0.04), (3, 3 m, 30 m, 0.02), (3, 3 m, 65 m, 0.04), (3, 3.25 m, 30 m, 0.02), (3, 65 m, 0.04), (3, 0.02, 0.04)).

It should be noted that, when the number of the first data string in the first set of conditions is smaller than the data in the target reference set, the first data string in the first set of conditions may be circulated.

As an example, before the terminal adds the data in the target reference set to each first data string included in the first working condition set in a round-robin manner, the data in the target reference set may also be sorted in an ascending manner.

Since the plurality of second data strings in the second working condition set Ts are determined for the plurality of second set groups, the second working condition set Ts may have data strings that are the same as the third working condition set, and in order to avoid repetition of working condition environments, when any of the plurality of third data strings includes a data string that is the same as any of the second data strings, any of the second data strings may be deleted from the second working condition set.

For example, when the third operating conditions are set to ((2, 3 m, 30 m, 0.02), (2, 3 m, 65 m, 0.04), (2, 3.25 m, 30 m, 0.02), (2, 3.25 m, 65 m, 0.04), (3, 3 m, 30 m, 0.02), (3, 3 m, 65 m, 0.04), (3, 3.25 m, 30 m, 0.02), (3, 3.25 m, 65 m, 0.04)). The second set of operating conditions are ((2,3 m, 0.02), (2,3.25 m, 0.02), (3,3 m, 0.02), (3,3.25 m, 0.02), (2,3 m, 0.04), (2,3.25 m, 0.04), (3,3 m, 0.04), (3,3.25 m, 0.04), (3 m, 30 m, 0.02), (3 m, 65 m, 0.02), (3.25 m, 30 m, 0.02), (3.25 m, 65 m 0.02), (3 m, 30 m 0.04), (3 m, 65 m, 0.04), (3.25 m, 30 m, 0.04), (3.25 m, 65 m, 0.04), (2, 30 m, 0.02), (2, 65 m, 0.02), (3, 30 m, 0.02), (3, 65 m, 0.02), (2, 30 m, 0.04), (2, 65 m, 0.04), (3, 30 meters, 0.04), (3, 65 meters, 0.04)), since the same combination of data strings as the second data string (3 meters, 30 meters, 0.02) exists in both (2,3 meters, 30 meters, 0.02) and (3,3 meters, 30 meters, 0.02) in the third set of conditions, (2,3 meters, 65 meters, 0.04) and (3,3 meters, 65 meters, 0.04) in the third set of conditions, the same combination of data strings as the second data string (3 meters, 65 meters, 0.04) in both (2,3.25 meters, 30 meters, 0.02) and (3,3.25 meters, 30 meters, 0.02) in the third set of conditions, 30 meters, 0.02), the same combination of data strings exists in both (2, 3.25 meters, 65 meters, 0.04) and (3, 3.25 meters, 65 meters, 0.04)) in the third set of conditions as the second data string (3.25 meters, 65 meters, 0.04), so the second data strings (3 meters, 30 meters, 0.02), (3 meters, 65 meters, 0.04), (3.25 meters, 30 meters, 0.02) and (3.25 meters, 65 meters, 0.04)) can be deleted from the second set of conditions.

Because the combination of the data strings of the third data strings in the third working condition set is not complete, in order to ensure the integrity of the combination of the data strings in the third working condition set, when the second working condition set does not have a second data string included in any third data string, the terminal may expand the second working condition set according to a default principle to obtain a fourth working condition set, where the fourth working condition set includes a plurality of fourth data strings.

As an example, the operation of the terminal expanding the second set of operating conditions according to the default principle may be: and for any remaining second data string in the second working condition set, determining data of a data set which does not appear in any second data string in the second set group, and adding the data of the data set which does not appear in any second data string to the second data string to obtain a plurality of fourth data strings.

It should be noted that the terminal may add data of a data set that does not appear in any of the second data strings to any position in any of the second data strings. Data of a data set that does not appear in any of the second data strings may also be added to any of the second data strings in ascending order of the number according to the number of the data set.

For example, when the second operation condition set deletes the second data string (2, 3 meters, 0.02), (2, 3.25 meters, 0.02), (3, 3 meters, 0.02), (3, 3.25 meters, 0.02), (2, 3 meters, 0.04), (2, 3.25 meters, 0.04), (3, 3 meters, 0.04), (3, 3.25 meters, 0.04), (3 meters, 65 meters, 0.02), (3.25 meters, 65 meters, 0.02), (3 meters, 30 meters 0.04), (3.25 meters, 30 meters, 0.04), (2, 30 meters, 0.02), (2, 65 meters, 0.02), (3, 30 meters, 0.02), (3, 65 meters, 0.02), (2, 30 meters, 0.04), (2, 65 meters, 0.04), (3, 30 meters, 0.04), and (3, 65 meters, 0.04), for a second data string (2, 3 meters, 0.02) that does not include the set of road radii of curvature P ₃ Is in (1) and when P ₃ The included data are: 30 meters and 65 meters, the second data string (2, 3 meters, 30 meters, 0.02) is added with 30 meters and 65 meters in ascending order of numbers to obtain fourth data strings (2, 3 meters, 30 meters, 0.02) and (2, 3 meters, 65 meters, 0.02).

Since the fourth condition set may include a fourth data string that is the same as the fourth condition set, if the fourth data string in the fourth condition set is directly added to the third condition set, the data string may be duplicated, and therefore, to avoid duplication, a fourth data string in the fourth condition set that is different from any third data string in the third condition set may be added to the third condition set.

For example, when the fourth data strings included in the fourth set of operating conditions are (2,3 m, 30 m, 0.02) and (2,3 m, 65 m, 0.02), the fourth data string (2,3 m, 65 m, 0.02) is added to the third set of operating conditions because (2,3 m, 30 m, 0.02) is included but (2,3 m, 65 m, 0.02) is not included in the third set of operating conditions.

In this embodiment, since the road condition data may include multiple data sets, the terminal further needs to determine a data string of multiple scene combinations through data in other data sets. Therefore, when a set with data not added into the third working condition set exists in the plurality of data sets, determining the target reference set and the target set group as a first set group, selecting a data set with data not appearing in any working condition set from the plurality of data sets as a reference set, returning to the operation of determining the first set group as the target set group and determining the reference set as the target reference set until the data in the plurality of sets are all added into the third working condition set; and determining the data string in the third working condition set as a data string of a plurality of scene combinations.

Step 204: and the terminal simulates the data strings of the plurality of scene combinations to obtain the environment working conditions corresponding to the data strings of the plurality of scene combinations.

As an example, the terminal may write the data string of the multiple scene combinations into the scene simulation application through the interface integrated management application, and drive the scene simulation application to generate the scene corresponding to the data string of the multiple scene combinations, so as to obtain the environmental conditions corresponding to the data string of the multiple scene combinations.

As an example, the terminal may further store an environmental condition corresponding to a data string of a plurality of scene combinations. Of course, the obtained data strings of a plurality of scene combinations may be stored in the environment condition transmission server.

In the embodiment of the application, the acquired road working condition data can be subjected to standardization processing, the road working condition data subjected to standardization processing is subjected to three-dimensional coverage combination, and the data strings of a plurality of scene combinations are obtained, so that the low redundancy, repeatability and easy expandability of the data strings of the scene combinations are ensured, meanwhile, the data strings of the scene combinations can be subjected to scene simulation, the reliable virtual reproduction of the environment working condition of automatic driving is completed, the confidence coefficient of environment working condition determination is improved, a worker does not need to perform the test of the environment working condition on the spot, and the safety of the environment working condition determination is improved.

After explaining the method for determining the environment condition of the automatic driving provided by the embodiment of the present application, a device for determining the environment condition of the automatic driving provided by the embodiment of the present application is introduced next.

Fig. 3 is a block diagram of an automatic driving environment condition determining device provided by the embodiment of the disclosure, and referring to fig. 3, the device may be implemented by software, hardware or a combination of the two. The device includes: a processing module 301, a combining module 302 and a simulation module 303.

The processing module 301 is configured to perform standardization processing on the acquired road condition data;

the combination module 302 is configured to perform three-dimensional coverage combination on the road condition data after the standardization processing to obtain a data string of a plurality of scene combinations;

the simulation module 303 is configured to simulate the data string of the multiple scene combinations to obtain an environmental condition corresponding to the data string of the multiple scene combinations.

In some embodiments, referring to fig. 4, the combining module 302 comprises:

a first determining submodule 3021 configured to determine a first set group from a plurality of data sets in the road condition data;

a second determining submodule 3022, configured to determine a first operating condition set based on the first set group;

a third determining submodule 3023, configured to determine a second operating condition set based on the first set group and a reference set, where the reference set is any one of the data sets in the road operating condition data except the data set in the first set group;

a fourth determining submodule 3024 configured to determine the data string of the plurality of scene combinations based on the first set of operating conditions and the second set of operating conditions.

In some embodiments, the first determining submodule 3021 is configured to:

numbering a plurality of data sets included in the road working condition data;

In some embodiments, the second determining submodule 3022 is configured to:

In some embodiments, the third determining submodule 3023 is configured to:

In some embodiments, the fourth determining submodule 3024 is configured to:

In summary, in the embodiment of the present application, the obtained road condition data may be subjected to standardization processing, and the road condition data subjected to standardization processing may be subjected to three-dimensional coverage combination to obtain a data string of a plurality of scene combinations, so as to ensure low redundancy, repeatability, and easy extensibility of the data string of the scene combinations, and at the same time, the data string of the scene combinations may be subjected to scene simulation, thereby completing reliable virtual reproduction of an environment condition of automatic driving, improving confidence level of determination of the environment condition, and improving safety of determination of the environment condition without a worker performing a test of the environment condition on the spot.

It should be noted that: in the environment condition determining apparatus for automatic driving provided in the above embodiment, when determining the environment condition for automatic driving, only the division of the above function modules is used for illustration, in practical applications, the above function distribution may be completed by different function modules according to needs, that is, the internal structure of the apparatus is divided into different function modules, so as to complete all or part of the above described functions. In addition, the automatic driving environment condition determining device provided by the embodiment and the automatic driving environment condition determining method embodiment belong to the same concept, and specific implementation processes thereof are detailed in the method embodiment and are not described herein again.

Fig. 5 shows a block diagram of a terminal 500 according to an exemplary embodiment of the present application. The terminal 500 may be: a smart phone, a tablet computer, an MP3 player (Moving Picture Experts Group Audio Layer III, motion Picture Experts compression standard Audio Layer 3), an MP4 player (Moving Picture Experts Group Audio Layer IV, motion Picture Experts compression standard Audio Layer 4), a notebook computer, or a desktop computer. Terminal 500 may also be referred to by other names such as user equipment, portable terminal, laptop terminal, desktop terminal, and the like.

In general, the terminal 500 includes: a processor 501 and a memory 502.

The processor 501 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and so on. The processor 501 may be implemented in at least one hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), and a PLA (Programmable Logic Array). The processor 501 may also include a main processor and a coprocessor, where the main processor is a processor for Processing data in an awake state, and is also called a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state. In some embodiments, the processor 501 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content required to be displayed on the display screen. In some embodiments, processor 501 may also include an AI (Artificial Intelligence) processor for processing computational operations related to machine learning.

Memory 502 may include one or more computer-readable storage media, which may be non-transitory. Memory 502 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in memory 502 is used to store at least one instruction for execution by processor 501 to implement the autonomous driving environment condition determination method provided by the method embodiments herein.

In some embodiments, the terminal 500 may further optionally include: a peripheral interface 503 and at least one peripheral. The processor 501, memory 502 and peripheral interface 503 may be connected by a bus or signal lines. Each peripheral may be connected to the peripheral interface 503 by a bus, signal line, or circuit board. Specifically, the peripheral device includes: at least one of radio frequency circuitry 504, touch screen display 505, camera 506, audio circuitry 507, positioning components 508, and power supply 509.

The peripheral interface 503 may be used to connect at least one peripheral related to I/O (Input/Output) to the processor 501 and the memory 502. In some embodiments, the processor 501, memory 502, and peripheral interface 503 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 501, the memory 502, and the peripheral interface 503 may be implemented on a separate chip or circuit board, which is not limited in this embodiment.

The Radio Frequency circuit 504 is used for receiving and transmitting RF (Radio Frequency) signals, also called electromagnetic signals. The radio frequency circuitry 504 communicates with communication networks and other communication devices via electromagnetic signals. The rf circuit 504 converts an electrical signal into an electromagnetic signal to transmit, or converts a received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 504 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a subscriber identity module card, and so forth. The radio frequency circuitry 504 may communicate with other terminals via at least one wireless communication protocol. The wireless communication protocols include, but are not limited to: metropolitan area networks, various generation mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks, and/or WiFi (Wireless Fidelity) networks. In some embodiments, the rf circuit 504 may further include NFC (Near Field Communication) related circuits, which are not limited in this application.

The display screen 505 is used to display a UI (User Interface). The UI may include graphics, text, icons, video, and any combination thereof. When the display screen 505 is a touch display screen, the display screen 505 also has the ability to capture touch signals on or over the surface of the display screen 505. The touch signal may be input to the processor 501 as a control signal for processing. At this point, the display screen 505 may also be used to provide virtual buttons and/or a virtual keyboard, also referred to as soft buttons and/or a soft keyboard. In some embodiments, the display screen 505 may be one, providing the front panel of the terminal 500; in other embodiments, the display screens 505 may be at least two, respectively disposed on different surfaces of the terminal 500 or in a folded design; in still other embodiments, the display 505 may be a flexible display disposed on a curved surface or on a folded surface of the terminal 500. Even more, the display screen 505 can be arranged in a non-rectangular irregular figure, i.e. a shaped screen. The Display screen 505 may be made of LCD (Liquid Crystal Display), OLED (Organic Light-Emitting Diode), and other materials.

The camera assembly 506 is used to capture images or video. Optionally, camera assembly 506 includes a front camera and a rear camera. Generally, a front camera is disposed at a front panel of a terminal, and a rear camera is disposed at a rear surface of the terminal. In some embodiments, the number of the rear cameras is at least two, and each rear camera is any one of a main camera, a depth-of-field camera, a wide-angle camera and a telephoto camera, so that the main camera and the depth-of-field camera are fused to realize a background blurring function, and the main camera and the wide-angle camera are fused to realize panoramic shooting and VR (Virtual Reality) shooting functions or other fusion shooting functions. In some embodiments, camera assembly 506 may also include a flash. The flash lamp can be a monochrome temperature flash lamp or a bicolor temperature flash lamp. The double-color-temperature flash lamp is a combination of a warm-light flash lamp and a cold-light flash lamp, and can be used for light compensation at different color temperatures.

Audio circuitry 507 may include a microphone and a speaker. The microphone is used for collecting sound waves of a user and the environment, converting the sound waves into electric signals, and inputting the electric signals to the processor 501 for processing, or inputting the electric signals to the radio frequency circuit 504 to realize voice communication. The microphones may be provided in plural numbers, respectively, at different portions of the terminal 500 for the purpose of stereo sound collection or noise reduction. The microphone may also be an array microphone or an omni-directional acquisition microphone. The speaker is used to convert electrical signals from the processor 501 or the radio frequency circuit 504 into sound waves. The loudspeaker can be a traditional film loudspeaker or a piezoelectric ceramic loudspeaker. When the speaker is a piezoelectric ceramic speaker, the speaker can be used for purposes such as converting an electric signal into a sound wave audible to a human being, or converting an electric signal into a sound wave inaudible to a human being to measure a distance. In some embodiments, audio circuitry 507 may also include a headphone jack.

The positioning component 508 is used for positioning the current geographic Location of the terminal 500 for navigation or LBS (Location Based Service). The Positioning component 508 may be a Positioning component based on the united states GPS (Global Positioning System), the chinese beidou System, the russian graves System, or the european union's galileo System.

Power supply 509 is used to power the various components in terminal 500. The power supply 509 may be alternating current, direct current, disposable or rechargeable. When power supply 509 includes a rechargeable battery, the rechargeable battery may support wired or wireless charging. The rechargeable battery may also be used to support fast charge technology.

In some embodiments, the terminal 500 also includes one or more sensors 510. The one or more sensors 510 include, but are not limited to: acceleration sensor 511, gyro sensor 512, pressure sensor 513, fingerprint sensor 514, optical sensor 515, and proximity sensor 516.

The acceleration sensor 511 may detect the magnitude of acceleration on three coordinate axes of the coordinate system established with the terminal 500. For example, the acceleration sensor 511 may be used to detect components of the gravitational acceleration in three coordinate axes. The processor 501 may control the touch screen 505 to display the user interface in a landscape view or a portrait view according to the gravitational acceleration signal collected by the acceleration sensor 511. The acceleration sensor 511 may also be used for acquisition of motion data of a game or a user.

The gyro sensor 512 may detect a body direction and a rotation angle of the terminal 500, and the gyro sensor 512 may cooperate with the acceleration sensor 511 to acquire a 3D motion of the user on the terminal 500. The processor 501 may implement the following functions according to the data collected by the gyro sensor 512: motion sensing (such as changing the UI according to a user's tilting operation), image stabilization while shooting, game control, and inertial navigation.

The pressure sensor 513 may be disposed on a side bezel of the terminal 500 and/or an underlying layer of the touch display screen 505. When the pressure sensor 513 is disposed on the side frame of the terminal 500, a holding signal of the terminal 500 by the user can be detected, and the processor 501 performs left-right hand recognition or shortcut operation according to the holding signal collected by the pressure sensor 513. When the pressure sensor 513 is disposed at the lower layer of the touch display screen 505, the processor 501 controls the operability control on the UI interface according to the pressure operation of the user on the touch display screen 505. The operability control comprises at least one of a button control, a scroll bar control, an icon control, and a menu control.

The fingerprint sensor 514 is used for collecting a fingerprint of the user, and the processor 501 identifies the identity of the user according to the fingerprint collected by the fingerprint sensor 514, or the fingerprint sensor 514 identifies the identity of the user according to the collected fingerprint. Upon recognizing that the user's identity is a trusted identity, the processor 501 authorizes the user to perform relevant sensitive operations including unlocking the screen, viewing encrypted information, downloading software, paying, and changing settings, etc. The fingerprint sensor 514 may be provided on the front, back, or side of the terminal 500. When a physical button or a vendor Logo is provided on the terminal 500, the fingerprint sensor 514 may be integrated with the physical button or the vendor Logo.

The optical sensor 515 is used to collect the ambient light intensity. In one embodiment, the processor 501 may control the display brightness of the touch display screen 505 based on the ambient light intensity collected by the optical sensor 515. Specifically, when the ambient light intensity is high, the display brightness of the touch display screen 505 is increased; when the ambient light intensity is low, the display brightness of the touch display screen 505 is turned down. In another embodiment, processor 501 may also dynamically adjust the shooting parameters of camera head assembly 506 based on the ambient light intensity collected by optical sensor 515.

A proximity sensor 516, also known as a distance sensor, is typically disposed on the front panel of the terminal 500. The proximity sensor 516 is used to collect the distance between the user and the front surface of the terminal 500. In one embodiment, when the proximity sensor 516 detects that the distance between the user and the front surface of the terminal 500 is gradually reduced, the processor 501 controls the touch display screen 505 to switch from the bright screen state to the dark screen state; when the proximity sensor 516 detects that the distance between the user and the front surface of the terminal 500 becomes gradually larger, the processor 501 controls the touch display screen 505 to switch from the screen-rest state to the screen-on state.

That is, not only is the present application embodiment provide a terminal including a processor and a memory for storing processor executable instructions, wherein the processor is configured to execute the method in the embodiments shown in fig. 1 and 2, but also the present application embodiment provides a computer readable storage medium, in which a computer program is stored, and the computer program can implement the method for determining the environment condition of the automatic driving in the embodiments shown in fig. 1 and 2 when the computer program is executed by the processor.

Those skilled in the art will appreciate that the configuration shown in fig. 5 is not intended to be limiting of terminal 500 and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components may be used.

It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the storage medium may be a read-only memory, a magnetic disk or an optical disk.

The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A method for determining an environmental condition for autonomous driving, the method comprising:

carrying out standardization processing on the acquired road condition data;

determining a second working condition set based on the first set group and a reference set, wherein the reference set is any data set in the road working condition data except the data set in the first set group;

determining a data string of a plurality of scene combinations based on the first set of operating conditions and the second set of operating conditions;

2. The method of claim 1, wherein determining a first set of sets from a plurality of sets of data in the road condition data comprises:

numbering a plurality of data sets included in the road condition data;

3. The method of claim 1, wherein determining a first set of operating conditions based on the first set of groups comprises:

4. The method of claim 1, wherein determining a second set of operating conditions based on the first set of groups and a reference set comprises:

5. The method of claim 4, wherein determining the data string for the plurality of scene combinations based on the first set of operating conditions and the second set of operating conditions comprises:

for any second data string in the plurality of second data strings, deleting the any second data string from the second condition set when any third data string in the plurality of third data strings comprises the same data string as the any second data string;

6. The method of any one of claims 1-5, wherein the road condition data comprises a set of number of lanes, a set of lane widths, a set of road radii of curvature, a set of grades, a set of road materials, a set of road feature types, a set of weather type quantification levels, a set of signage information, and a set of traffic flow models.

7. An autonomous driving environment condition determination apparatus, the apparatus comprising:

a combination module for determining a first set of sets from a plurality of sets of data in the road condition data; determining a first set of operating conditions based on the first set of groups; determining a second working condition set based on the first set group and a reference set, wherein the reference set is any data set in the road working condition data except the data set in the first set group; determining a data string of a plurality of scene combinations based on the first set of operating conditions and the second set of operating conditions;

8. A computer-readable storage medium, characterized in that the storage medium has stored therein a computer program which, when being executed by a processor, carries out the method of any one of claims 1-6.