CN111860379A - Method and device for establishing surrounding vehicle model, storage medium and computer equipment - Google Patents
Method and device for establishing surrounding vehicle model, storage medium and computer equipment Download PDFInfo
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Abstract
According to the technical scheme of the method, the device, the storage medium and the computer equipment for establishing the peripheral vehicle model, the license plate information of the peripheral vehicle is acquired, the vehicle data model corresponding to the license plate information is inquired through the automobile model data center, and the peripheral vehicle model is established according to the acquired multiple vehicle data models, so that the time for establishing the peripheral vehicle model can be shortened, the efficiency for establishing the peripheral vehicle model is improved, and the cost for establishing the peripheral vehicle model is reduced.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of image recognition, in particular to a method and a device for establishing a surrounding vehicle model, a storage medium and computer equipment.
[ background of the invention ]
With the development of technology and devices, the automatic driving technology is moving forward. In automatic driving, a virtual driving space is formed by digital modeling depending on detailed perception of the surrounding environment without human participation, and the vehicle-mounted automatic driving system performs related driving operations such as refueling, braking, steering and the like based on the virtual driving space. Therefore, the automatic driving depends heavily on real-time digital modeling of the surrounding environment, and the safety of the automatic driving can be ensured only if the virtual driving space is completely consistent with the real driving environment and is synchronous in real time.
In the existing automatic driving technology, various sensor devices are installed in an automatic driving automobile, so that the surrounding environment of the automobile is accurately sensed through the various sensor devices. Such as laser radar, millimeter wave radar, cameras, and other types of sensors. Taking the perception of the automatically driven vehicle to the surrounding vehicles as an example, in the related technology, the laser radar is used for fast scanning to generate an accurate vehicle digital model, and because other vehicles around the automatically driven vehicle are in a moving state under most conditions, the laser radar of the automatically driven vehicle is required to continuously scan and perform complex calculation to establish the surrounding vehicle model required by automatic driving, so that the problems of untimely establishment of the surrounding vehicle model, low efficiency and high cost are caused.
[ summary of the invention ]
In view of this, the present invention provides a method, an apparatus, a storage medium, and a computer device for creating a surrounding vehicle model, which can reduce the time for creating the surrounding vehicle model, improve the efficiency of creating the surrounding vehicle model, and reduce the cost of creating the surrounding vehicle model.
In one aspect, an embodiment of the present invention provides a method for establishing a surrounding vehicle model, including:
acquiring license plate information of surrounding vehicles;
inquiring a vehicle data model corresponding to the license plate information through a vehicle model data center;
and establishing a surrounding vehicle model according to the acquired plurality of vehicle data models.
Optionally, the license plate information includes a vehicle model;
acquire the license plate information of peripheral vehicle through on-vehicle camera, include:
acquiring license plate images of surrounding vehicles through a vehicle-mounted camera;
identifying license plate data from the license plate image;
and inquiring the vehicle model corresponding to the license plate data according to the license plate data.
Optionally, the license plate data includes a license plate number.
Optionally, the license plate information includes a vehicle model;
the querying of the vehicle data model corresponding to the license plate information through the vehicle model data center includes:
sending a retrieval request to an automobile model data center, wherein the retrieval request carries the vehicle model, so that the automobile model data center queries a corresponding vehicle data model according to the vehicle model;
and receiving the vehicle data model returned by the automobile model data center.
Optionally, the method further comprises: and if the vehicle model corresponding to the license plate data is not inquired according to the license plate data, scanning the surrounding vehicles through a vehicle laser radar to obtain vehicle data models of the surrounding vehicles, and continuously executing the step of establishing the surrounding vehicle models according to the plurality of obtained vehicle data models.
Optionally, the method further comprises: and if the vehicle data model returned by the automobile model data center is not received, scanning the surrounding vehicles through the vehicle laser radar to obtain the vehicle data models of the surrounding vehicles, and continuously executing the step of establishing the surrounding vehicle models according to the obtained plurality of vehicle data models.
In another aspect, an embodiment of the present invention provides a device for creating a surrounding vehicle model, where the device includes:
the acquisition module is used for acquiring the license plate information of the surrounding vehicles;
the query module is used for querying a vehicle data model corresponding to the license plate information through a vehicle model data center;
and the establishing module is used for establishing a surrounding vehicle model according to the acquired plurality of vehicle data models.
In another aspect, an embodiment of the present invention provides a storage medium including a stored program, where the apparatus on which the storage medium is located is controlled to execute the above-described method for establishing a surrounding vehicle model when the program runs.
In another aspect, an embodiment of the present invention provides a computer apparatus including a memory for storing information including program instructions and a processor for controlling execution of the program instructions, the program instructions being loaded by the processor and executing the steps of the above-described method for building a surrounding vehicle model.
According to the technical scheme provided by the embodiment of the invention, the license plate information of the surrounding vehicle is obtained, the vehicle data model corresponding to the license plate information is inquired through the automobile model data center, and the surrounding vehicle model is established according to the obtained plurality of vehicle data models, so that the establishing time of the surrounding vehicle model can be reduced, the efficiency of establishing the surrounding vehicle model is improved, and the cost of establishing the surrounding vehicle model is reduced.
[ description of the drawings ]
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.
Fig. 1 is an architecture diagram of a system for modeling a surrounding vehicle according to an embodiment of the present invention;
FIG. 2 is a flowchart of a method for creating a model of a nearby vehicle according to an embodiment of the present invention;
FIG. 3 is a flowchart of a method for creating a model of a nearby vehicle according to still another embodiment of the present invention;
fig. 4 is a schematic structural diagram of a device for building a surrounding vehicle model according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a computer device according to an embodiment of the present invention.
[ detailed description ] embodiments
For better understanding of the technical solutions of the present invention, the following detailed descriptions of the embodiments of the present invention are provided with reference to the accompanying drawings.
It should be understood that the described embodiments are only some embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be understood that the term "and/or" as used herein is merely one type of associative relationship that describes an associated object, meaning that three types of relationships may exist, e.g., A and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
Before describing a method of establishing a surrounding vehicle model of the present invention, a brief description will be given of a method of establishing a surrounding vehicle model in the related art:
in the related art, an accurate vehicle digital model is generated by rapid scanning of a laser radar. However, in the automatic driving process, other vehicles around the automatic driving vehicle are mostly in a moving state, so that the laser radar of the automatic driving vehicle needs to continuously scan, and the point cloud data obtained by scanning is calculated, so that the peripheral vehicle model required by automatic driving can be established. For example, taking the sensing and modeling of a driving autonomous vehicle to surrounding vehicles as an example, the autonomous vehicle needs to be scanned by a laser radar from multiple angles, and a complete and accurate vehicle data model can be established through complicated calculation.
In the method for establishing the peripheral vehicle model in the related art, the laser radar needs to work continuously and is supported by a large amount of calculation power, however, the model establishment speed is easy to be slow because the peripheral vehicle model is established by only relying on the point cloud data obtained by the laser radar through continuous scanning, and meanwhile, the model can be established only by performing a large amount of calculation on the point cloud data in a mobile scene, so that the system calculation power consumption is increased, and the problems of untimely establishment of the peripheral vehicle model, low efficiency and high cost are caused.
Based on the above, in order to solve the problems of untimely establishment of the peripheral vehicle model, low efficiency and high cost in the related technology, the invention provides the method for establishing the peripheral vehicle model based on the image recognition technology.
A method for establishing a surrounding vehicle model according to the present invention will be described in detail below with reference to the following embodiments.
Fig. 1 is an architecture diagram of a system for building a surrounding vehicle model according to an embodiment of the present invention, as shown in fig. 1, the system includes: an autonomous vehicle 10 and an automobile model data center 20, wherein the autonomous vehicle includes a plurality of on-board sensors 100 and a management back-office 110. The autonomous vehicle 10 is used to instruct a vehicle provided with an autonomous system.
The autonomous vehicle 10 is equipped with a plurality of in-vehicle sensors 100, and the plurality of in-vehicle sensors 100 include a camera sensor, a laser radar sensor, a high-precision positioning sensor, an inertial navigation unit sensor, and the like. In the embodiment of the present invention, the vehicle-mounted sensor 100 is used to acquire a license plate image of a surrounding vehicle. For example, taking the vehicle-mounted sensor 100 as an example including a camera, a license plate image of a surrounding vehicle may be obtained in a video manner through the camera sensor, where the license plate image includes an image with a license plate number.
The management background 110 is configured to obtain a current driving state of the autonomous vehicle 10 in real time, where the current driving state includes a vehicle position, a vehicle speed, a vehicle state, a plurality of sensor states, and the like. The management back office 110 is also used for remote monitoring and management of the autonomous vehicle 10, as well as information interaction with other platform systems. Specifically, in the embodiment of the present invention, the management background 110 is configured to obtain license plate information of a neighboring vehicle, query a vehicle data model corresponding to the license plate information through an automobile model data center, and establish a neighboring vehicle model according to a plurality of obtained vehicle data models. Specifically, the management background 110 is specifically configured to obtain a license plate image of a peripheral vehicle through the vehicle-mounted camera, recognize license plate data from the license plate image, query a vehicle model corresponding to the license plate data according to the license plate data, send a retrieval request to the model data center, where the retrieval request carries the vehicle model, and receive a vehicle data model returned by the model data center.
In the embodiment of the invention, the environmental model around the automatic driving is quickly established through the management background 110, and timely support information is provided for the automatic driving decision.
The automobile model data center 20 is used for storing model data models of various types of vehicles and providing data retrieval and data output services for the outside. It should be noted that the model data model stored in the model data center 20 cooperates with the vehicle enterprises, so that the latest vehicle data model can be obtained in time, and the accuracy of the established peripheral vehicle model is ensured. In the embodiment of the present invention, the automobile model data center 20 is used for querying a corresponding vehicle data model according to the vehicle model.
In addition, the management background 110 is further configured to scan the neighboring vehicles through the vehicle lidar to obtain vehicle data models of the neighboring vehicles if a vehicle data model returned by the automobile model data center is not received, and continue to perform the step of establishing the neighboring vehicle model according to the obtained plurality of vehicle data models.
The management background 110 is further configured to scan the surrounding vehicles through the vehicle laser radar to obtain vehicle data models of the surrounding vehicles if the vehicle models corresponding to the license plate data are not queried according to the license plate data, and continue to perform the step of establishing the surrounding vehicle models according to the obtained plurality of vehicle data models.
Based on the system, the invention provides a method for establishing a surrounding vehicle model by combining vehicle-mounted image recognition and laser radar cooperation, under the condition of good image recognition conditions, a sensor of an automatic driving vehicle can recognize a license plate number, a management platform can determine the vehicle model based on the license plate number, and a vehicle data model corresponding to the vehicle model is inquired from an automobile model data center and obtained; under the condition of poor image recognition conditions, a sensor of the automatic driving vehicle can scan the surrounding vehicles through the vehicle laser radar to obtain vehicle data models of the surrounding vehicles.
Fig. 2 is a flowchart of a method for building a surrounding vehicle model according to an embodiment of the present invention, and as shown in fig. 2, the method includes:
And 102, inquiring a vehicle data model corresponding to the license plate information through the vehicle model data center.
And 103, establishing a surrounding vehicle model according to the plurality of acquired vehicle data models.
According to the technical scheme provided by the embodiment of the invention, the license plate information of the surrounding vehicle is obtained, the vehicle data model corresponding to the license plate information is inquired through the automobile model data center, and the surrounding vehicle model is established according to the obtained plurality of vehicle data models, so that the establishing time of the surrounding vehicle model can be reduced, the efficiency of establishing the surrounding vehicle model is improved, and the cost of establishing the surrounding vehicle model is reduced.
Fig. 3 is a flowchart of a method for establishing a surrounding vehicle model according to another embodiment of the present invention, as shown in fig. 3, the method includes:
In the embodiment of the present invention, a plurality of in-vehicle sensors 100 are mounted on the autonomous vehicle 10, and the plurality of in-vehicle sensors 100 include a camera, a laser radar, a high-precision positioning unit, an inertial navigation unit, and the like, and are provided with an autonomous system. In the embodiment of the present invention, the vehicle-mounted sensor 100 is used to acquire a license plate image of a surrounding vehicle. For example, taking the example that the vehicle-mounted sensor 100 includes a camera, the license plate image of the surrounding vehicle can be obtained in a video mode through the camera.
In the embodiment of the present invention, the license plate data includes a license plate number, and specifically, the process of identifying the license plate data from the license plate image in step 202 may include: and analyzing the license plate image through the vehicle-mounted camera to acquire license plate data, wherein the acquired license plate data is Beijing A12345, for example.
In the embodiment of the present invention, the process of querying the vehicle model corresponding to the license plate data according to the license plate data in step 203 may include: sending an inquiry request to a traffic police database, wherein the inquiry request carries the license plate data, so that the traffic police database inquires the vehicle model corresponding to the license plate data according to the license plate data; and receiving the vehicle model returned by the traffic police database. The Vehicle model may include a brand model and Vehicle Identification Number (VIN) information. For example, the traffic police database inquires that the brand model corresponding to the license plate data is an east-wind placard XXXXXXXXX and the vehicle identification code information is LDCXXXXXXXXXXXXXXXXXXXX according to the license plate data.
And step 204, scanning the surrounding vehicles through the vehicle laser radar to acquire vehicle data models of the surrounding vehicles, and continuing to execute step 207.
In an embodiment of the present invention, the process of scanning the nearby vehicle by the vehicle lidar to obtain the vehicle data model of the nearby vehicle may include: the method comprises the steps of continuously scanning environment information in a preset range of an automatic driving vehicle through a vehicle-mounted laser radar sensor, forming point cloud data corresponding to the environment information, and establishing a vehicle data model of a peripheral vehicle according to the point cloud data through a three-dimensional modeling technology.
In an embodiment of the invention, the vehicle data model comprises a vehicle 3D data model. In practical applications, automobiles have stable appearance characteristic parameters as standardized industrial products. Each model of vehicle is produced based on previous detailed specification design, so each automobile manufacturer data center stores the detailed 3D digital models of various models of vehicles produced by the automobile manufacturer data center. Based on this, the automobile model data center 20 collects and stores detailed 3D digital models of various types of vehicles stored in a plurality of automobile manufacturers, and interacts with each automobile manufacturer data center to obtain the latest vehicle data model, thereby ensuring the accuracy of the established surrounding vehicle model.
In this embodiment of the present invention, step 205 may further include: and sending a retrieval request to an automobile manufacturer data center corresponding to the vehicle model, wherein the retrieval request carries the vehicle model, so that the automobile manufacturer data center queries a corresponding vehicle data model according to the vehicle model.
And step 207, establishing a surrounding vehicle model according to the plurality of acquired vehicle data models.
In practical applications, since there may be multiple vehicles in the surrounding environment of the autonomous vehicle, the present invention requires multiple vehicle data models of the surrounding environment of the autonomous vehicle, and establishes the surrounding vehicle models by performing step 206, thereby providing timely support information for autonomous driving decisions.
In the embodiment of the invention, the automatic driving vehicle can acquire the accurate peripheral vehicle model from the MEC equipment through the 5G network according to the method for establishing the peripheral vehicle model, so that the peripheral vehicle model required by automatic driving can be established more quickly. Based on the method, the vehicle-mounted video sensor is used for identifying the license plate models of the surrounding vehicles, the corresponding vehicle data models are quickly acquired from the license plate models to the vehicle model data center, and the surrounding vehicle models are established according to the acquired plurality of vehicle data models, so that the time for establishing the surrounding vehicle models can be shortened.
According to the technical scheme provided by the embodiment of the invention, the license plate information of the surrounding vehicle is obtained, the vehicle data model corresponding to the license plate information is inquired through the automobile model data center, and the surrounding vehicle model is established according to the obtained plurality of vehicle data models, so that the establishing time of the surrounding vehicle model can be reduced, the efficiency of establishing the surrounding vehicle model is improved, and the cost of establishing the surrounding vehicle model is reduced.
Fig. 4 is a schematic structural diagram of an apparatus for building a surrounding vehicle model according to an embodiment of the present invention, as shown in fig. 4, the apparatus includes: an acquisition module 11, a query module 12 and a setup module 13.
The acquisition module 11 is used for acquiring license plate information of surrounding vehicles;
the query module 12 is configured to query a vehicle data model corresponding to the license plate information through a vehicle model data center;
the establishing module 13 is configured to establish a surrounding vehicle model according to the acquired plurality of vehicle data models.
In the embodiment of the invention, the license plate information comprises the vehicle model; the acquisition module 11 of the apparatus specifically includes: an acquisition sub-module 111, an identification sub-module 112, and a query sub-module 113.
The obtaining submodule 111 is used for obtaining license plate images of surrounding vehicles through the vehicle-mounted camera;
the recognition sub-module 112 is used for recognizing the license plate data from the license plate image;
the query submodule 113 is configured to query a vehicle model corresponding to the license plate data according to the license plate data.
In the embodiment of the invention, the license plate data comprises a license plate number.
In the embodiment of the invention, the license plate information comprises the vehicle model; the query module 12 of the apparatus specifically includes: a transmitting sub-module 121 and a receiving sub-module 122.
The sending submodule 121 is configured to send a retrieval request to an automobile model data center, where the retrieval request carries the vehicle model number, so that the automobile model data center queries a corresponding vehicle data model according to the vehicle model number;
the receiving submodule 122 is configured to receive the vehicle data model returned by the automobile model data center.
In the embodiment of the present invention, the apparatus further includes:
if the vehicle model corresponding to the license plate data is not queried by the query submodule 113 according to the license plate data, scanning the surrounding vehicles by the vehicle laser radar to obtain a vehicle data model of the surrounding vehicles, and continuing to execute the step of establishing the surrounding vehicle model by the establishing module 13 according to the obtained plurality of vehicle data models.
In the embodiment of the present invention, the apparatus further includes:
if the receiving submodule 122 does not receive the vehicle data model returned by the automobile model data center, the vehicle laser radar scans the surrounding vehicles to obtain the vehicle data models of the surrounding vehicles, and the step of establishing the surrounding vehicle models according to the plurality of obtained vehicle data models by the establishing module 13 is continuously executed.
According to the technical scheme provided by the embodiment of the invention, the license plate information of the surrounding vehicle is obtained, the vehicle data model corresponding to the license plate information is inquired through the automobile model data center, and the surrounding vehicle model is established according to the obtained plurality of vehicle data models, so that the establishing time of the surrounding vehicle model can be reduced, the efficiency of establishing the surrounding vehicle model is improved, and the cost of establishing the surrounding vehicle model is reduced.
An embodiment of the present invention provides a storage medium including a stored program, where, when the program runs, a device on which the storage medium is located is controlled to execute each step of the above-described embodiment of the method for establishing a surrounding vehicle model, and for specific description, reference may be made to the above-described embodiment of the method for establishing a surrounding vehicle model.
An embodiment of the present invention provides a computer device, including a memory for storing information including program instructions and a processor for controlling execution of the program instructions, where the program instructions are loaded into and executed by the processor to implement the steps of the above-described method for building a surrounding vehicle model. The detailed description may refer to an embodiment of the above-described surrounding vehicle model establishment method.
Fig. 5 is a schematic diagram of a computer device according to an embodiment of the present invention. As shown in fig. 5, the computer device 4 of this embodiment includes: the processor 41, the memory 42, and the computer program 43 stored in the memory 42 and capable of running on the processor 41, where the computer program 43 is executed by the processor 41 to implement the method for establishing the model of the surrounding vehicle in the embodiment, and in order to avoid repetition, the details are not repeated herein. Alternatively, the computer program is executed by the processor 41 to implement the functions of each model/unit in the device for establishing a surrounding vehicle model in the embodiment, which are not described herein for avoiding redundancy.
The computer device 4 includes, but is not limited to, a processor 41, a memory 42. Those skilled in the art will appreciate that fig. 5 is merely an example of computer device 4 and is not intended to limit computer device 4 and may include more or fewer components than shown, or some of the components may be combined, or different components, e.g., computer device 4 may also include input-output devices, network access devices, buses, etc.
The Processor 41 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The storage 42 may be an internal storage unit of the computer device 4, such as a hard disk or a memory of the computer device 4. The memory 42 may also be an external storage device of the computer device 4, such as a plug-in hard disk provided on the computer device 4, a Smart Media Card (SMC), a Secure Digital (SD) Card, a flash memory Card (FlashCard), and the like. Further, the memory 42 may also include both internal storage units of the computer device 4 and external storage devices. The memory 42 is used for storing computer programs and other programs and data required by the computer device 4. The memory 42 may also be used to temporarily store data that has been output or is to be output.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the embodiments provided in the present invention, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) or a Processor (Processor) to execute some steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (9)
1. A method of building a nearby vehicle model, characterized by comprising:
acquiring license plate information of surrounding vehicles;
inquiring a vehicle data model corresponding to the license plate information through a vehicle model data center;
and establishing a surrounding vehicle model according to the acquired plurality of vehicle data models.
2. The method of claim 1, wherein the license plate information includes a vehicle model number;
acquire the license plate information of peripheral vehicle through on-vehicle camera, include:
acquiring license plate images of surrounding vehicles through a vehicle-mounted camera;
identifying license plate data from the license plate image;
and inquiring the vehicle model corresponding to the license plate data according to the license plate data.
3. The method of claim 2, wherein the license plate data comprises a license plate number.
4. The method of claim 1, wherein the license plate information includes a vehicle model number;
the querying of the vehicle data model corresponding to the license plate information through the vehicle model data center includes:
sending a retrieval request to an automobile model data center, wherein the retrieval request carries the vehicle model, so that the automobile model data center queries a corresponding vehicle data model according to the vehicle model;
and receiving the vehicle data model returned by the automobile model data center.
5. The method of claim 2, further comprising: and if the vehicle model corresponding to the license plate data is not inquired according to the license plate data, scanning the surrounding vehicles through a vehicle laser radar to obtain vehicle data models of the surrounding vehicles, and continuously executing the step of establishing the surrounding vehicle models according to the plurality of obtained vehicle data models.
6. The method of claim 4, further comprising: and if the vehicle data model returned by the automobile model data center is not received, scanning the surrounding vehicles through the vehicle laser radar to obtain the vehicle data models of the surrounding vehicles, and continuously executing the step of establishing the surrounding vehicle models according to the obtained plurality of vehicle data models.
7. An apparatus for creating a surrounding vehicle model, characterized by comprising:
the acquisition module is used for acquiring the license plate information of the surrounding vehicles;
the query module is used for querying a vehicle data model corresponding to the license plate information through a vehicle model data center;
and the establishing module is used for establishing a surrounding vehicle model according to the acquired plurality of vehicle data models.
8. A storage medium characterized by comprising a stored program, wherein an apparatus in which the storage medium is located is controlled to execute the method of establishing a nearby vehicle model according to any one of claims 1 to 6 when the program is executed.
9. A computer device comprising a memory for storing information including program instructions and a processor for controlling the execution of the program instructions, wherein the program instructions are loaded and executed by the processor to implement the steps of the method for establishing a nearby vehicle model according to any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010729740.4A CN111860379A (en) | 2020-07-27 | 2020-07-27 | Method and device for establishing surrounding vehicle model, storage medium and computer equipment |
Applications Claiming Priority (1)
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