CN113619606A - Obstacle determination method, apparatus, device and storage medium - Google Patents
Obstacle determination method, apparatus, device and storage medium Download PDFInfo
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- CN113619606A CN113619606A CN202111092278.2A CN202111092278A CN113619606A CN 113619606 A CN113619606 A CN 113619606A CN 202111092278 A CN202111092278 A CN 202111092278A CN 113619606 A CN113619606 A CN 113619606A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
- B60W60/0016—Planning or execution of driving tasks specially adapted for safety of the vehicle or its occupants
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/04—Traffic conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/53—Road markings, e.g. lane marker or crosswalk
Abstract
The invention discloses a method, a device, equipment and a storage medium for determining an obstacle. The method comprises the following steps: determining the relative position of a candidate obstacle of a scene where a target vehicle is located relative to the target vehicle; and determining a target obstacle from candidate obstacles of the scene where the target vehicle is located according to the relative position and the actual lane line or the virtual lane line of the scene where the target vehicle is located. By the technical scheme, the computing resources of the automatic driving system are saved, and the interested target barrier can be screened out more quickly and accurately, so that the safety of automatic driving is improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of automatic driving, in particular to a method, a device, equipment and a storage medium for determining an obstacle.
Background
In the current automatic driving scene, the types and the number of the carried sensors are increased along with the performance enhancement of the vehicle-mounted sensors, and the obstacle information is also increased. Excessive obstacle information may affect path planning and vehicle control during autonomous driving, and therefore it is highly desirable to determine an obstacle of interest from among a large number of obstacles.
Disclosure of Invention
The invention provides a method, a device, equipment and a storage medium for determining obstacles, which are used for avoiding the influence of excessive obstacle information on path planning and vehicle control in the automatic driving process.
In a first aspect, an embodiment of the present invention provides an obstacle determination method, including:
determining the relative position of a candidate obstacle of a scene where a target vehicle is located relative to the target vehicle;
and determining a target obstacle from candidate obstacles of the scene where the target vehicle is located according to the relative position and the actual lane line or the virtual lane line of the scene where the target vehicle is located.
In a second aspect, an embodiment of the present invention further provides an obstacle determining apparatus, including:
the relative position determining module is used for determining the relative position of a candidate obstacle of a scene where the target vehicle is located relative to the target vehicle;
and the target obstacle determining module is used for determining a target obstacle from candidate obstacles of the scene where the target vehicle is located according to the relative position and a real lane line or a virtual lane line of the scene where the target vehicle is located.
In a third aspect, an embodiment of the present invention further provides an electronic device, including:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement an obstacle determination method as provided by any of the embodiments of the invention.
In a fourth aspect, the embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the obstacle determining method according to any embodiment of the present invention.
According to the technical scheme of the embodiment of the invention, the relative position of the candidate obstacles in the scene where the target vehicle is located relative to the target vehicle is determined, and then the target obstacles are determined from the candidate obstacles in the scene where the target vehicle is located according to the relative position and the actual lane line or the virtual lane line of the scene where the target vehicle is located. According to the technical scheme, the computing resources of the automatic driving system are saved, and the interested target barrier can be screened out more quickly and accurately, so that the safety of automatic driving is improved.
Drawings
Fig. 1 is a flowchart of an obstacle determination method according to an embodiment of the present invention;
fig. 2 is a flowchart of an obstacle determination method according to a second embodiment of the present invention;
fig. 3 is a flowchart of an obstacle determination method according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of an obstacle determining apparatus according to a fourth embodiment of the present invention;
fig. 5 is a schematic structural diagram of an electronic device according to a fifth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of an obstacle determining method according to an embodiment of the present invention, where the present embodiment is applicable to a case where obstacle determination is performed in an expressway scene with a lane line, and is also applicable to a case where obstacle determination is performed in a non-expressway scene without a lane line, and the method may be executed by an obstacle determining apparatus, which may be implemented by software and/or hardware, and may be integrated into an electronic device, such as an onboard controller, that carries an obstacle determining function.
As shown in fig. 1, the method may specifically include:
and S110, determining the relative position of the candidate obstacle of the scene where the target vehicle is located relative to the target vehicle.
Wherein the target vehicle may be an autonomous vehicle. The scene in which the target vehicle is located may be an expressway scene with a lane line or a non-high speed scene without a lane line. The candidate obstacle is a surrounding vehicle collected by a sensor in the target vehicle.
In this embodiment, the relative position of the candidate obstacle in the scene where the target vehicle is located with respect to the target vehicle may be determined by a sensor mounted in the target vehicle. Wherein the relative positions include a lateral position and a longitudinal position.
And S120, determining the target obstacle from the candidate obstacles in the scene where the target vehicle is located according to the relative position and the actual lane line or the virtual lane line of the scene where the target vehicle is located.
The actual lane line refers to a dividing line of a lane in a scene where the target vehicle is located. The virtual lane line is a lane line simulated when there is no lane line in the scene where the target vehicle is located.
Optionally, if a lane line exists in the scene where the target vehicle is located, the target obstacle is determined from candidate obstacles in the scene where the target vehicle is located according to the relative position and the actual lane line of the scene where the target vehicle is located. Specifically, for each candidate obstacle, the relative position of the candidate obstacle with respect to the target vehicle and the relative position of the actual lane line with respect to the target vehicle are input into a pre-trained comparison model, and the result of whether the candidate obstacle is the target obstacle is obtained.
Optionally, if no lane line exists in the scene where the target vehicle is located, the target obstacle is determined from candidate obstacles in the scene where the target vehicle is located according to the relative position and the virtual lane line of the scene where the target vehicle is located. Specifically, for each candidate obstacle, the relative position of the candidate obstacle with respect to the target vehicle and the relative position of the virtual lane line with respect to the target vehicle are input into a pre-trained comparison model, and the result of whether the candidate obstacle is the target obstacle is obtained.
According to the technical scheme of the embodiment of the invention, the relative position of the candidate obstacles in the scene where the target vehicle is located relative to the target vehicle is determined, and then the target obstacles are determined from the candidate obstacles in the scene where the target vehicle is located according to the relative position and the actual lane line or the virtual lane line of the scene where the target vehicle is located. According to the technical scheme, the computing resources of the automatic driving system are saved, and the interested target barrier can be screened out more quickly and accurately, so that the safety of automatic driving is improved.
Example two
Fig. 2 is a flowchart of an obstacle determination method provided in the second embodiment of the present invention, which is further optimized on the basis of the second embodiment, and an alternative implementation is provided in the case of a lane line.
As shown in fig. 2, the method may specifically include:
s210, determining the relative position of the candidate obstacle of the scene where the target vehicle is located relative to the target vehicle.
And S220, determining a vehicle left boundary line and a vehicle right boundary line according to the width of the target vehicle, the left actual lane line and/or the right actual lane line of the lane where the target vehicle is located and the transverse position in the relative position.
Optionally, if there is no lane on the right side of the target vehicle, that is, the target vehicle is located in the rightmost lane, the left boundary line and the right boundary line of the vehicle may be determined according to the width of the target vehicle, the left actual lane line of the lane where the target vehicle is located, and the lateral position in the relative position.
Specifically, a vehicle body coordinate system is established with the target vehicle as the center, and is defined as positive left, positive right, and negative left. And determining a first relative position coordinate of the candidate obstacle relative to the left actual lane line based on the coordinate of the relative position of the candidate obstacle and the lane line information acquired by the visual camera, wherein the first relative position coordinate is also determined based on the vehicle body coordinate system. And then determining the distance between the target vehicle and the left actual lane line based on the sensor of the target vehicle. Further, calculating a lateral coordinate of the first relative position coordinate and a first result obtained by subtracting the distance between the target vehicle and the left actual lane line, and taking a result obtained by subtracting the first result from one-half of the vehicle width as a lateral coordinate of the left boundary line of the vehicle; and the result of adding the first result to one-half of the vehicle width is taken as the abscissa of the vehicle right side boundary line.
Optionally, if there is no lane on the left side of the target vehicle, that is, the target vehicle is in the leftmost lane, the left boundary line and the right boundary line of the vehicle may be determined according to the width of the target vehicle, the right actual lane line of the lane where the target vehicle is located, and the lateral position in the relative position.
Specifically, a vehicle body coordinate system is established with the target vehicle as the center, and is defined as positive left, positive right, and negative left. And determining second relative position coordinates of the candidate obstacle relative to the right actual lane line based on the coordinates of the relative position of the candidate obstacle and the lane line information acquired by the visual camera, wherein the second relative position coordinates are also determined based on the vehicle body coordinate system. And then determining the distance between the target vehicle and the right actual lane line based on the sensor of the target vehicle. Further, a second result obtained by adding the lateral coordinate of the second relative position coordinate and the distance between the target vehicle and the right actual lane line is calculated, and the result obtained by adding the second result and one-half of the vehicle width is taken as the lateral coordinate of the vehicle left boundary line; and the second result is used as the abscissa of the boundary line on the right side of the vehicle together with the result of one-half of the vehicle width in detail.
Optionally, if the left side and the right side of the target vehicle both have lanes, that is, the target vehicle is located in a middle lane, the left boundary line and the right boundary line of the vehicle may be determined according to the width of the target vehicle, the left actual lane line and/or the right actual lane line of the lane where the target vehicle is located, and the lateral position in the relative position.
And S230, determining the specific actual lane line of the adjacent lane of the lane where the target vehicle is located according to the left actual lane line and/or the right actual lane line of the lane where the target vehicle is located and the actual lane width.
The actual lane width refers to the actual width of a lane in a scene where the target vehicle is located. The unique actual lane line is an actual lane line that is not shared with the lane where the target vehicle is located, and is adjacent to the lane where the target vehicle is located, for example, a left actual lane line of a left adjacent lane of the lane where the target vehicle is located, or a right actual lane line of a right adjacent lane of the lane where the target vehicle is located.
Optionally, if there is no lane on the right side of the target vehicle, that is, the target vehicle is located in the rightmost lane, the specific actual lane line of the adjacent lane of the lane where the target vehicle is located is determined according to the left actual lane line of the lane where the target vehicle is located and the actual lane width. Specifically, a first relative position coordinate of the candidate obstacle with respect to the left actual lane line is determined based on a coordinate of the relative position of the candidate obstacle and lane line information acquired by the vision camera, wherein the first relative position coordinate is also determined based on the vehicle body coordinate system. Further, the result of adding the lateral coordinate of the first relative position coordinate to the actual lane width is taken as the lateral coordinate of the specific actual lane line of the left adjacent lane of the lane in which the target vehicle is located.
Optionally, if there is no lane on the left side of the target vehicle, that is, the target vehicle is located in the leftmost lane, the specific actual lane line of the adjacent lane of the lane where the target vehicle is located is determined according to the right actual lane line of the lane where the target vehicle is located and the actual lane width. Specifically, second relative position coordinates of the candidate obstacle relative to the right actual lane line are determined based on coordinates of the relative position of the candidate obstacle and lane line information acquired by the vision camera, wherein the second relative position coordinates are also determined based on the vehicle body coordinate system. Further, the lateral coordinate of the second relative position coordinate is subtracted from the actual lane width to obtain the lateral coordinate of the specific actual lane line of the right adjacent lane of the lane where the target vehicle is located.
Optionally, if both the left side and the right side of the target vehicle have lanes, that is, the target vehicle is located in the middle lane, the specific actual lane line of the adjacent lane of the lane where the target vehicle is located may be determined according to the left actual lane line and the right actual lane line of the lane where the target vehicle is located, and the actual lane width.
And S240, determining a target obstacle from candidate obstacles of a scene where the target vehicle is located according to the relative position, the actual lane width, the vehicle left side boundary line, the vehicle right side boundary line and the specific actual lane line.
Optionally, when the right side of the target vehicle has no lane, that is, the target vehicle is located in the rightmost lane, if the distance between the lateral position in the relative position and the left side boundary of the vehicle is smaller than the actual lane width, and the distance between the lateral position in the relative position and the left side specific actual lane line in the specific actual lane line is smaller than the actual lane width, the target obstacle is determined from the candidate obstacles in the scene where the target vehicle is located. Specifically, if the distance between the lateral position in the relative position and the left boundary of the vehicle is smaller than the actual lane width, and the distance between the lateral position in the relative position and the left specific actual lane line in the specific actual lane lines is smaller than the actual lane width, that is, the candidate obstacle is located in the left adjacent lane of the target vehicle, and then the candidate obstacle is used as the target obstacle of the target vehicle.
Further, if the distance between the lateral position in the relative positions and the left side boundary of the vehicle is smaller than the actual lane width, and the distance between the lateral position in the relative positions and the right side boundary of the vehicle is smaller than the actual lane width, the candidate obstacle is determined to be the target obstacle.
Optionally, when the left side of the target vehicle has no lane, that is, the target vehicle is located in the leftmost lane, if the distance between the lateral position in the relative position and the right side boundary of the vehicle is smaller than the actual lane width, and the distance between the lateral position in the relative position and the right side specific actual lane line in the specific actual lane line is smaller than the actual lane width, the target obstacle is determined from the candidate obstacles of the scene where the target vehicle is located. Specifically, if the distance between the lateral position in the relative position and the right side boundary of the vehicle is smaller than the actual lane width, and the distance between the lateral position in the relative position and the right side specific actual lane line in the specific actual lane lines is smaller than the actual lane width, that is, the candidate obstacle is located in the right adjacent lane of the target vehicle, and then the candidate obstacle is used as the target obstacle of the target vehicle.
Further, if the distance between the lateral position in the relative positions and the left side boundary of the vehicle is smaller than the actual lane width, and the distance between the lateral position in the relative positions and the right side boundary of the vehicle is smaller than the actual lane width, the candidate obstacle is determined to be the target obstacle.
Optionally, if both the left side and the right side of the target vehicle have lanes, that is, the target vehicle is located in a middle lane, the target obstacle is determined from candidate obstacles in a scene where the target vehicle is located according to the situations of the rightmost vehicle and the leftmost lane.
According to the technical scheme, the method comprises the steps of determining the relative position of a candidate obstacle of a scene where a target vehicle is located relative to the target vehicle, then determining the left boundary line and the right boundary line of the vehicle according to the width of the target vehicle, the left actual lane line and/or the right actual lane line of a lane where the target vehicle is located and the transverse position of the relative position, further determining the specific actual lane line of the adjacent lane of the lane where the target vehicle is located according to the left actual lane line and/or the right actual lane line of the lane where the target vehicle is located and the actual lane width, and finally determining the target obstacle from the candidate obstacles of the scene where the target vehicle is located according to the relative position, the actual lane width, the left boundary line of the vehicle, the right boundary line of the vehicle and the specific actual lane line. Through the technical scheme, the determination of the barrier interested by the target vehicle under the condition of the existence of the lane line is realized, so that the safety of automatic driving is improved.
EXAMPLE III
Fig. 3 is a flowchart of an obstacle determination method provided in the third embodiment of the present invention, which is further optimized on the basis of the third embodiment, and an alternative implementation is provided in the case that no lane line exists.
S310, determining the relative position of the candidate obstacle of the scene where the target vehicle is located relative to the target vehicle.
And S320, determining a vehicle left side boundary line and a vehicle right side boundary line according to the longitudinal position, the target vehicle width and the target vehicle steering radius in the relative positions.
The target vehicle steering radius is a distance from a steering center to a contact point between an outer steering wheel and the ground, and can be calculated based on information such as a vehicle speed, a yaw rate, a steering wheel angle and the like.
In the present embodiment, the quotient between the square of the coordinate value of the longitudinal position in the relative position and the turning radius of the target vehicle is calculated, the sum of the quotient and one-half of the width of the target vehicle is taken as the abscissa of the vehicle left side boundary line, and the difference between the quotient and one-half of the width of the target vehicle is taken as the abscissa of the vehicle right side boundary line.
S330, determining a special virtual lane line of a lane adjacent to the lane where the target vehicle is located according to the left boundary line and the virtual lane width of the vehicle and/or the right boundary line and the virtual lane width of the vehicle.
The virtual lane width refers to a simulated actual lane width, and may be set by a person skilled in the art according to an actual situation. The unique virtual lane line is an actual lane line that is not shared with the lane where the target vehicle is located, of the adjacent lane to the lane where the target vehicle is located in the simulated actual situation, for example, a left virtual lane line of a left adjacent lane of the lane where the target vehicle is located, or a right virtual lane line of a right adjacent lane of the lane where the target vehicle is located.
Optionally, if there is no lane on the right side of the target vehicle, that is, the target vehicle is located in the rightmost lane, the sum of the abscissa of the left boundary line of the vehicle and the width of the virtual lane is used as the unique virtual lane line of the left adjacent lane of the lane where the target vehicle is located.
Optionally, if there is no lane on the left side of the target vehicle, that is, the target vehicle is in the leftmost lane, the difference between the abscissa of the boundary line on the right side of the vehicle and the width of the virtual lane is used as the specific virtual lane line of the adjacent lane on the right side of the lane where the target vehicle is located.
Optionally, if both the left side and the right side of the target vehicle have lanes, that is, the target vehicle is located in the middle lane, the left side boundary line and the virtual lane width of the vehicle, and the right side boundary line and the virtual lane width of the vehicle determine a unique virtual lane line of a lane adjacent to the lane where the target vehicle is located.
And S340, determining a target obstacle from candidate obstacles of a scene where the target vehicle is located according to the relative position, the virtual lane width, the vehicle left side boundary line, the vehicle right side boundary line and the special virtual lane line.
Optionally, when the right side of the target vehicle has no lane, that is, the target vehicle is located in the rightmost lane, if the distance between the lateral position in the relative position and the left side boundary of the vehicle is smaller than the virtual lane width, and the distance between the lateral position in the relative position and the left side specific virtual lane line in the specific virtual lane lines is smaller than the virtual lane width, the target obstacle is determined from the candidate obstacles in the scene where the target vehicle is located. Specifically, if the distance between the lateral position in the relative positions and the left boundary of the vehicle is smaller than the virtual lane width, and the distance between the lateral position in the relative positions and the left specific virtual lane line in the specific virtual lane lines is smaller than the virtual lane width, the target obstacle is determined from the candidate obstacles in the scene where the target vehicle is located, that is, the candidate obstacle is located in the left adjacent lane of the target vehicle, and the candidate obstacle is used as the target obstacle of the target vehicle.
Further, if the distance between the lateral position in the relative positions and the left side boundary of the vehicle is smaller than the virtual lane width, and the distance between the lateral position in the relative positions and the right side boundary of the vehicle is smaller than the virtual lane width, the candidate obstacle is determined to be the target obstacle.
Optionally, when the left side of the target vehicle has no lane, that is, the target vehicle is located in the leftmost lane, if the distance between the lateral position in the relative position and the right side boundary of the vehicle is smaller than the virtual lane width, and the distance between the lateral position in the relative position and the right side unique virtual lane line in the unique virtual lane lines is smaller than the virtual lane width, the target obstacle is determined from the candidate obstacles of the scene where the target vehicle is located. Specifically, if the distance between the lateral position in the relative positions and the right side boundary of the vehicle is smaller than the virtual lane width, and the distance between the lateral position in the relative positions and the right side specific virtual lane line in the specific virtual lane lines is smaller than the virtual lane width, the target obstacle is determined from the candidate obstacles in the scene where the target vehicle is located, that is, the candidate obstacle is located in the right adjacent lane of the target vehicle, and the candidate obstacle is taken as the target obstacle of the target vehicle.
Further, if the distance between the lateral position in the relative positions and the left side boundary of the vehicle is smaller than the virtual lane width, and the distance between the lateral position in the relative positions and the right side boundary of the vehicle is smaller than the virtual lane width, the candidate obstacle is determined to be the target obstacle.
Optionally, if both the left side and the right side of the target vehicle have lanes, that is, the target vehicle is located in a middle lane, the target obstacle is determined from candidate obstacles in a scene where the target vehicle is located according to the situations of the rightmost vehicle and the leftmost lane.
According to the technical scheme, the method comprises the steps of determining the relative position of a candidate obstacle of a scene where a target vehicle is located relative to the target vehicle, then determining the left boundary line and the right boundary line of the vehicle according to the longitudinal position, the width and the turning radius of the target vehicle in the relative position, further determining the specific virtual lane line of the adjacent lane of the lane where the target vehicle is located according to the left boundary line and the width of the virtual lane and/or the right boundary line and the width of the virtual lane, and finally determining the target obstacle from the candidate obstacle of the scene where the target vehicle is located according to the relative position, the width of the virtual lane, the left boundary line, the right boundary line and the specific virtual lane line. Through the technical scheme, the determination of the barrier interested by the target vehicle under the condition of no lane line is realized by simulating the lane line, so that the safety of automatic driving is improved.
Example four
Fig. 4 is a schematic structural diagram of an obstacle determining apparatus according to a fourth embodiment of the present invention, where the fourth embodiment is applicable to a case where an obstacle is determined in a scene where a highway has lane line information, and also applicable to a case where an obstacle is determined in a non-high-speed lane line-free scene, and the apparatus may be implemented in a software and/or hardware manner, and may be integrated into an electronic device, such as a vehicle-mounted controller, that carries an obstacle determining function.
As shown in fig. 4, the apparatus may specifically include a relative position determination module 410 and a target obstacle determination module 420, wherein,
a relative position determination module 410, configured to determine a relative position of a candidate obstacle of a scene in which the target vehicle is located with respect to the target vehicle;
and the target obstacle determining module 420 is configured to determine the target obstacle from candidate obstacles in the scene where the target vehicle is located according to the relative position and the actual lane line or the virtual lane line of the scene where the target vehicle is located.
According to the technical scheme of the embodiment of the invention, the relative position of the candidate obstacles in the scene where the target vehicle is located relative to the target vehicle is determined, and then the target obstacles are determined from the candidate obstacles in the scene where the target vehicle is located according to the relative position and the actual lane line or the virtual lane line of the scene where the target vehicle is located. According to the technical scheme, the computing resources of the automatic driving system are saved, and the interested target barrier can be screened out more quickly and accurately, so that the safety of automatic driving is improved.
Further, the target obstacle determination module block 420 includes a boundary line determination unit, a unique actual lane line determination unit, and a target obstacle determination unit, wherein,
the boundary line determining unit is used for determining a vehicle left boundary line and a vehicle right boundary line according to the width of the target vehicle, the left actual lane line and/or the right actual lane line of the lane where the target vehicle is located and the transverse position in the relative position;
the special actual lane line determining unit is used for determining a special actual lane line of an adjacent lane of the lane where the target vehicle is located according to the left actual lane line and/or the right actual lane line of the lane where the target vehicle is located and the width of the actual lane;
and the target obstacle determining unit is used for determining the target obstacle from candidate obstacles of a scene where the target vehicle is positioned according to the relative position, the actual lane width, the vehicle left side boundary line, the vehicle right side boundary line and the special actual lane line.
Further, the target obstacle determination unit is specifically configured to:
if the distance between the transverse position in the relative positions and the left side boundary of the vehicle is smaller than the width of an actual lane, and the distance between the transverse position in the relative positions and the left side specific actual lane line in the specific actual lane lines is smaller than the width of the actual lane, determining a target obstacle from candidate obstacles of a scene where the target vehicle is located; and/or the presence of a gas in the gas,
if the distance between the transverse position in the relative positions and the right side boundary of the vehicle is smaller than the width of an actual lane, and the distance between the transverse position in the relative positions and the right side specific actual lane line in the specific actual lane lines is smaller than the width of the actual lane, determining a target obstacle from candidate obstacles of a scene where the target vehicle is located; and/or the presence of a gas in the gas,
and if the distance between the transverse position in the relative positions and the left side boundary of the vehicle is smaller than the width of the actual lane, and the distance between the transverse position in the relative positions and the right side boundary of the vehicle is smaller than the width of the actual lane, determining the target obstacle from candidate obstacles of the scene where the target vehicle is located.
Further, the target obstacle determination module 410 further comprises a unique virtual lane line determination unit, wherein,
the boundary line determining unit is further used for determining a vehicle left boundary line and a vehicle right boundary line according to the longitudinal position, the target vehicle width and the target vehicle turning radius in the relative positions;
the special virtual lane line determining unit is used for determining a special virtual lane line of a lane adjacent to the lane where the target vehicle is located according to the left boundary line and the width of the virtual lane of the vehicle and/or the right boundary line and the width of the virtual lane of the vehicle;
and the target obstacle determining unit is also used for determining a target obstacle from candidate obstacles of a scene where the target vehicle is positioned according to the relative position, the virtual lane width, the vehicle left side boundary line, the vehicle right side boundary line and the special virtual lane line.
Further, the target obstacle determination unit is specifically further configured to:
if the distance between the transverse position in the relative positions and the left side boundary of the vehicle is smaller than the virtual lane width, and the distance between the transverse position in the relative positions and the left side specific virtual lane line in the specific virtual lane lines is smaller than the virtual lane width, determining a target obstacle from candidate obstacles of the scene where the target vehicle is located; and/or the presence of a gas in the gas,
if the distance between the transverse position in the relative positions and the right side boundary of the vehicle is smaller than the width of the virtual lane, and the distance between the transverse position in the relative positions and the right side special virtual lane line in the special virtual lane lines is smaller than the width of the virtual lane, determining a target obstacle from candidate obstacles of a scene where the target vehicle is located; and/or the presence of a gas in the gas,
and if the distance between the transverse position in the relative positions and the left side boundary of the vehicle is less than the virtual lane width, and the distance between the transverse position in the relative positions and the right side boundary of the vehicle is less than the virtual lane width, determining the target obstacle from candidate obstacles of the scene where the target vehicle is located.
The obstacle determining device can execute the obstacle determining method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the executing method.
EXAMPLE five
Fig. 5 is a schematic structural diagram of an electronic device according to a fifth embodiment of the present invention, and fig. 5 shows a block diagram of an exemplary device suitable for implementing the embodiment of the present invention. The device shown in fig. 5 is only an example and should not bring any limitation to the function and the scope of use of the embodiments of the present invention.
As shown in FIG. 5, electronic device 12 is embodied in the form of a general purpose computing device. The components of electronic device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.
The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)30 and/or cache memory (cache 32). The electronic device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 5, and commonly referred to as a "hard drive"). Although not shown in FIG. 5, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. System memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in system memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of embodiments described herein.
The processing unit 16 executes various functional applications and data processing by executing programs stored in the system memory 28, for example, to implement the obstacle determination method provided by the embodiment of the present invention.
EXAMPLE six
An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program (or referred to as computer-executable instructions) is stored, where the computer program is used for executing, when executed by a processor, the obstacle determining method provided by the embodiment of the present invention, where the method includes:
determining the relative position of a candidate obstacle of a scene where a target vehicle is located relative to the target vehicle;
and determining the target obstacle from the candidate obstacles in the scene where the target vehicle is located according to the relative position and the actual lane line or the virtual lane line of the scene where the target vehicle is located.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for embodiments of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the embodiments of the present invention have been described in more detail through the above embodiments, the embodiments of the present invention are not limited to the above embodiments, and many other equivalent embodiments may be included without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. An obstacle determination method, comprising:
determining the relative position of a candidate obstacle of a scene where a target vehicle is located relative to the target vehicle;
and determining a target obstacle from candidate obstacles of the scene where the target vehicle is located according to the relative position and the actual lane line or the virtual lane line of the scene where the target vehicle is located.
2. The method of claim 1, wherein determining a target obstacle from candidate obstacles in a scene of the target vehicle based on the relative position and an actual lane line of the scene of the target vehicle comprises:
determining a vehicle left boundary line and a vehicle right boundary line according to the width of the target vehicle, the left actual lane line and/or the right actual lane line of the lane where the target vehicle is located and the transverse position in the relative position;
determining a special actual lane line of an adjacent lane of the lane where the target vehicle is located according to the left actual lane line and/or the right actual lane line of the lane where the target vehicle is located and the width of the actual lane;
and determining a target obstacle from candidate obstacles of a scene where the target vehicle is located according to the relative position, the actual lane width, the vehicle left side boundary line, the vehicle right side boundary line and the special actual lane line.
3. The method of claim 2, wherein determining a target obstacle from the candidate obstacles of the scene in which the target vehicle is located based on the relative position, the actual lane width, the vehicle left boundary line, the vehicle right boundary line, and the unique actual lane line comprises:
if the distance between the transverse position in the relative positions and the left side boundary of the vehicle is smaller than the actual lane width, and the distance between the transverse position in the relative positions and the left side specific actual lane line in the specific actual lane lines is smaller than the actual lane width, determining a target obstacle from candidate obstacles of a scene where the target vehicle is located; and/or the presence of a gas in the gas,
if the distance between the transverse position in the relative positions and the right side boundary of the vehicle is smaller than the actual lane width, and the distance between the transverse position in the relative positions and the right side specific actual lane line in the specific actual lane lines is smaller than the actual lane width, determining a target obstacle from candidate obstacles of a scene where the target vehicle is located; and/or the presence of a gas in the gas,
and if the distance between the transverse position in the relative positions and the left side boundary of the vehicle is smaller than the actual lane width, and the distance between the transverse position in the relative positions and the right side boundary of the vehicle is smaller than the actual lane width, determining a target obstacle from candidate obstacles of a scene where the target vehicle is located.
4. The method of claim 1, wherein determining a target obstacle from candidate obstacles in a scene of the target vehicle based on the relative position and a virtual lane line of the scene of the target vehicle comprises:
determining a vehicle left boundary line and a vehicle right boundary line according to the longitudinal position, the target vehicle width and the target vehicle turning radius in the relative positions;
determining a special virtual lane line of a lane adjacent to the lane where the target vehicle is located according to the left boundary line and the virtual lane width of the vehicle and/or the right boundary line and the virtual lane width of the vehicle;
and determining a target obstacle from candidate obstacles of a scene where the target vehicle is located according to the relative position, the virtual lane width, the vehicle left side boundary line, the vehicle right side boundary line and the special virtual lane line.
5. The method of claim 4, wherein determining a target obstacle from candidate obstacles of a scene in which the target vehicle is located according to the relative position, the virtual lane width, the vehicle left boundary line, the vehicle right boundary line, and the unique virtual lane line comprises:
if the distance between the transverse position in the relative positions and the left side boundary of the vehicle is smaller than the virtual lane width, and the distance between the transverse position in the relative positions and the left side specific virtual lane line in the specific virtual lane lines is smaller than the virtual lane width, determining a target obstacle from candidate obstacles of a scene where the target vehicle is located; and/or the presence of a gas in the gas,
if the distance between the transverse position in the relative positions and the right side boundary of the vehicle is smaller than the virtual lane width, and the distance between the transverse position in the relative positions and the right side special virtual lane line in the special virtual lane lines is smaller than the virtual lane width, determining a target obstacle from candidate obstacles of a scene where the target vehicle is located; and/or the presence of a gas in the gas,
and if the distance between the transverse position in the relative positions and the left side boundary of the vehicle is smaller than the virtual lane width, and the distance between the transverse position in the relative positions and the right side boundary of the vehicle is smaller than the virtual lane width, determining a target obstacle from candidate obstacles of a scene where the target vehicle is located.
6. An obstacle determination device characterized by comprising:
the relative position determining module is used for determining the relative position of a candidate obstacle of a scene where the target vehicle is located relative to the target vehicle;
and the target obstacle determining module is used for determining a target obstacle from candidate obstacles of the scene where the target vehicle is located according to the relative position and a real lane line or a virtual lane line of the scene where the target vehicle is located.
7. The apparatus of claim 6, wherein the target obstacle determination module comprises:
the boundary line determining unit is used for determining a vehicle left boundary line and a vehicle right boundary line according to the width of the target vehicle, the left actual lane line and/or the right actual lane line of the lane where the target vehicle is located and the transverse position in the relative position;
the special actual lane line determining unit is used for determining a special actual lane line of an adjacent lane of the lane where the target vehicle is located according to the left actual lane line and/or the right actual lane line of the lane where the target vehicle is located and the width of the actual lane;
and the target obstacle determining unit is used for determining a target obstacle from candidate obstacles of a scene where the target vehicle is located according to the relative position, the actual lane width, the vehicle left side boundary line, the vehicle right side boundary line and the special actual lane line.
8. The apparatus of claim 6, wherein the target obstacle determination module further comprises:
the boundary line determining unit is further used for determining a vehicle left boundary line and a vehicle right boundary line according to the longitudinal position, the target vehicle width and the target vehicle turning radius in the relative positions;
the special virtual lane line determining unit is used for determining a special virtual lane line of a lane adjacent to the lane where the target vehicle is located according to the left boundary line and the virtual lane width of the vehicle and/or the right boundary line and the virtual lane width of the vehicle;
and the target obstacle determining unit is further used for determining a target obstacle from candidate obstacles of a scene where the target vehicle is located according to the relative position, the virtual lane width, the vehicle left side boundary line, the vehicle right side boundary line and the special virtual lane line.
9. An electronic device, comprising:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the obstacle determination method of any of claims 1-5.
10. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, carries out the obstacle determining method according to any one of claims 1-5.
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