CN113753076A - Method and device for judging effective barrier, electronic equipment and automatic driving vehicle - Google Patents
Method and device for judging effective barrier, electronic equipment and automatic driving vehicle Download PDFInfo
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- CN113753076A CN113753076A CN202110904470.0A CN202110904470A CN113753076A CN 113753076 A CN113753076 A CN 113753076A CN 202110904470 A CN202110904470 A CN 202110904470A CN 113753076 A CN113753076 A CN 113753076A
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
Abstract
The disclosure provides a method and a device for judging an effective barrier, electronic equipment and an automatic driving vehicle, and relates to the technical field of computers, in particular to the field of automatic driving. The specific implementation scheme is as follows: detecting whether an obstacle exists in a driving range of a current vehicle in the process that the current vehicle is switched from a current lane to a target lane; acquiring state information of an obstacle under the condition that the obstacle is sensed in a driving range, wherein the state information comprises a plurality of safety factor information used for determining whether the obstacle is an effective obstacle, and the plurality of safety factor information contained in the state information is not identical under the condition that the position of the obstacle relative to a current vehicle is different; and obtaining a judgment result of the obstacle at least based on the state information, wherein the judgment result is used for representing whether the obstacle is a valid obstacle.
Description
Technical Field
The present disclosure relates to the field of computer technologies, and in particular, to an autonomous driving method, an apparatus, an electronic device, an autonomous driving vehicle, and a storage medium for determining an effective obstacle.
Background
In the lane changing process of the automatic driving vehicle, in order to ensure the safety of the automatic driving vehicle, obstacles with collision risks need to be confirmed and avoided. In the actual environment of a vehicle, due to the complex and numerous obstacles, if all obstacles in the space are taken into account, the overall system function and performance are severely affected. Therefore, it is necessary to distinguish obstacles within the driving range of the vehicle to obtain effective obstacles, so as to improve the performance of the algorithm and the system and ensure the safety of the vehicle as much as possible.
Disclosure of Invention
The present disclosure provides a method and apparatus for determining an effective obstacle, an electronic device, an autonomous vehicle, and a storage medium.
According to a first aspect of the present disclosure, there is provided a method of determining a valid obstacle, comprising: detecting whether an obstacle exists in a driving range of a current vehicle in the process that the current vehicle is switched from a current lane to a target lane; acquiring state information of an obstacle under the condition that the obstacle is sensed in a driving range, wherein the state information comprises a plurality of safety factor information used for determining whether the obstacle is an effective obstacle, and the plurality of safety factor information contained in the state information is not identical under the condition that the position of the obstacle relative to a current vehicle is different; and obtaining a judgment result of the obstacle at least based on the state information, wherein the judgment result is used for representing whether the obstacle is a valid obstacle.
According to a second aspect of the present disclosure, there is provided an apparatus for determining a valid obstacle, comprising: the system comprises a detection module, a control module and a driving module, wherein the detection module is used for detecting whether an obstacle exists in the driving range of the current vehicle in the process of switching the current vehicle from the current lane to the target lane; the system comprises an acquisition module, a judgment module and a display module, wherein the acquisition module is used for acquiring the state information of an obstacle under the condition that the obstacle is sensed in a driving range, the state information comprises a plurality of safety factor information used for determining whether the obstacle is an effective obstacle, and the plurality of safety factor information contained in the state information is not completely the same under the condition that the position of the obstacle relative to a current vehicle is different; and the judging module is used for obtaining a judging result of the barrier at least based on the state information, wherein the judging result is used for representing whether the barrier is an effective barrier.
According to a third aspect of the present disclosure, there is provided an electronic device comprising: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method described in the first aspect.
According to a fourth aspect of the present disclosure, there is provided a non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method described in the first aspect.
According to a fifth aspect of the present disclosure, there is provided a computer program product comprising a computer program which, when executed by a processor, implements the method described in the first aspect.
According to a sixth aspect of the present disclosure, there is provided an autonomous vehicle comprising the apparatus as described in the second aspect, or the electronic device as described in the third aspect.
According to at least some embodiments of the disclosure, in the process that a current vehicle is switched from a current lane to a target lane to run, whether an obstacle exists in a running range of the current vehicle is detected, when the obstacle is sensed in the running range, state information of the obstacle is firstly acquired, the state information comprises a plurality of safety factor information used for determining whether the obstacle is an effective obstacle, when the position of the obstacle relative to the current vehicle is different, the plurality of safety factor information included in the state information is not completely the same, then a determination result of the obstacle is obtained at least based on the state information, the determination result is used for representing whether the obstacle is the effective obstacle, and the actual situation when the vehicle changes lanes is fully considered, so that the lane change passing performance and safety can be simultaneously guaranteed, the calculation efficiency is improved as much as possible, and redundant calculation is reduced.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present disclosure, nor do they limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.
Drawings
The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:
FIG. 1 is a scene diagram of a method of determining valid obstacles in which embodiments of the present disclosure may be implemented;
fig. 2 is a flow chart of a method of determining a valid obstacle according to a first embodiment of the present disclosure;
FIG. 3 is a flow chart of a method of deriving a determination of an obstacle based at least on status information according to the present disclosure;
FIG. 4 is a flow chart of a method of determining a valid obstacle according to a second embodiment of the present disclosure;
FIG. 5 is a schematic view of an apparatus for determining a valid obstacle according to the present disclosure;
fig. 6 is a block diagram of an electronic device for implementing a method of determining a valid obstacle according to an embodiment of the present disclosure.
Detailed Description
Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
In view of the above problems, the following solutions are provided in the related art:
in the scheme 1, the distance is distinguished according to the distance of the obstacles, the obstacles at a far distance are not considered during path planning, and only the obstacles at a near position within a certain range are considered, but the scheme is only suitable for partial scenes, and the effect difference is large under different speeds and scenes;
the scheme 2 is divided according to the speed of the obstacle, and if the speed of the rear obstacle is higher than the speed of the vehicle, the rear obstacle is taken into account in path planning; if the speed of the front obstacle is lower than the vehicle speed of the vehicle, the path planning is taken into consideration, but the scheme is only applied to partial scenes, and the speed error of the obstacle affects the system performance.
The method for judging the effective barrier provided by the embodiment of the disclosure can be suitable for a lane changing scene of an automatic driving vehicle, and also can be suitable for a deflector rod lane changing scene and an automatic lane changing scene in auxiliary driving. The execution subject of the method may be an autonomous vehicle (such as a controller in the autonomous vehicle), an electronic device used by a driver, or a server (including a local server and a cloud server), but is not limited thereto.
In some embodiments, the execution subject of the method for determining the effective obstacle may be an autonomous vehicle, as shown in fig. 1, in a lane change scene of the autonomous vehicle, the current vehicle 10 may switch from the current lane to a target lane (as shown by a dotted arrow in fig. 1), and a plurality of obstacles 20 (including vehicles traveling in other lanes, objects affecting normal traveling of the vehicle, and the like) in a traveling range may affect safety of the current vehicle 10 during the lane change process, so that the effective obstacle in the plurality of obstacles 20 needs to be determined and avoided.
According to an embodiment of the present disclosure, the present disclosure provides a method for determining a valid obstacle, and fig. 2 is a flowchart of the method for determining a valid obstacle according to the first embodiment of the present disclosure, as shown in fig. 2, the flowchart includes the following steps:
step S202, in the process that the current vehicle is switched from the current lane to the target lane for running, whether an obstacle exists in the running range of the current vehicle is detected.
The current vehicle in the above steps may be an automatic driving vehicle or an auxiliary driving vehicle, and the current vehicle needs to be switched from a current driving lane to a target driving lane during traveling, so as to accomplish the purpose of changing lanes of the vehicle. The target lane may be a lane selected by the driver, or a lane autonomously selected by the autonomous driving vehicle or the auxiliary system, for example, the current lane may be the uppermost lane, and the target lane may be the lowermost lane, as shown in fig. 1.
In order to ensure the passing performance and safety of the vehicle in the lane changing process, a laser radar may be disposed on the current vehicle, and the obstacles around the current vehicle may be detected in real time by the laser radar, and further, as shown in fig. 1, in the lane changing scene, the obstacles 20 (such as trees on both sides of the road, etc.) that are not related to the lane changing of the current vehicle 10 may not affect the safety of the current vehicle 10, so that only the obstacles within the driving range of the current vehicle may be detected, where the driving range may be the range of the lane changing of the current vehicle.
Step S204, when the obstacle is sensed in the driving range, acquiring the state information of the obstacle, wherein the state information comprises a plurality of safety factor information used for determining whether the obstacle is an effective obstacle, and when the position of the obstacle relative to the current vehicle is different, the plurality of safety factor information contained in the state information is not completely the same.
The current vehicle not only can be provided with the laser radar, but also can be provided with image acquisition devices such as a camera, and the like, so that various information of the obstacles can be sensed through the device, for example, the distance between the sensed obstacle and the current vehicle, the lane where the sensed obstacle is located, the distance between the sensed obstacle and a target lane, the speed of the sensed obstacle, and the like are not limited to the above. Taking the scenario shown in fig. 1 as an example, since the situation of the obstacle 20 in the actual environment is complex, in order to improve the processing and adaptation capability of the method for determining an effective obstacle for different situations, a plurality of information affecting the lane change safety of the vehicle can be screened from the plurality of information sensed by the laser radar as the safety factor information.
In addition, since the obstacles at different positions often have different collision responsibility determination manners from the current vehicle, the obstacles at different positions need to be considered in a distinguishing manner, that is, different state information needs to be acquired for the obstacles at different positions. The difference in the status information described here may be that the status information includes completely different safety factor information, for example, taking the scenario shown in fig. 1 as an example, for the obstacle 20 (i.e., the isolation cone) located on the uppermost lane, the status information may include safety factor information 1, safety factor information 2, and safety factor information 3; for an obstacle 20 located in the lowermost lane (i.e., the lower left corner vehicle), the status information may include safety factor information 4, safety factor information 5, and safety factor information 6. The state information may be different, and the safety factor information included in the state information may be partially the same and different, for example, for the obstacle 20 (i.e., the isolation cone) located on the uppermost lane, the state information may include safety factor information 1, safety factor information 2, and safety factor information 3; for an obstacle 20 located in the lowermost lane (i.e., a lower left corner vehicle), the state information may include safety factor information 1, safety factor information 2, and safety factor information 4. The state information may also be different in the number of safety factor information contained therein, for example, for the obstacle 20 (i.e., the isolation cone) located on the uppermost lane, the state information may contain 2 safety factor information; for an obstacle 20 located in the lowermost lane (i.e., the lower left corner vehicle), the status information may contain 3 safety factor information.
In the embodiment of the present disclosure, a front obstacle and a rear obstacle in the vehicle traveling direction may be distinguished. In some embodiments, in order to accurately determine whether the front obstacle is a valid obstacle, 3 pieces of safety factor information may be screened out from the various pieces of sensed information as state information of the front obstacle, which are: the distance between the front obstacle and the current vehicle, the lane where the front obstacle is located, and the distance between the front obstacle and the target lane; in order to accurately determine whether the rear obstacle is an effective obstacle, 3 pieces of safety factor information can be screened out from the sensed multiple pieces of information to serve as state information of the rear obstacle, wherein the state information is the distance between the rear obstacle and the current vehicle, the lane where the rear obstacle is located and the speed of the rear obstacle.
Because the perception of the lane where the front obstacle is located is greatly influenced by an actual scene, sometimes the lane where the front obstacle is located may not be accurately perceived, in other embodiments, for the front obstacle, under the condition that the lane where the front obstacle is located cannot be perceived (taking the scene shown in fig. 1 as an example, if a vehicle at the lower left corner is pressed to run, the lane where the vehicle is located cannot be perceived), in order to accurately determine whether the front obstacle is an effective obstacle, 2 pieces of safety factor information may be screened out from various pieces of perceived information as state information of the front obstacle, which are respectively: the distance between the front obstacle and the current vehicle, and the distance between the front obstacle and the target lane.
And step S206, obtaining a judgment result of the obstacle at least based on the state information, wherein the judgment result is used for representing whether the obstacle is an effective obstacle.
In the embodiment of the present disclosure, different determination conditions may be set in advance for obstacles at different positions, and then the acquired state information is compared with the corresponding determination conditions, where an obstacle meeting the determination conditions is an effective obstacle, and an obstacle not meeting the determination conditions is an ineffective obstacle, and further, the effective obstacle may be reserved for obstacle avoidance, and the ineffective obstacle may be directly deleted without consideration. Since the state information includes a plurality of pieces of security factor information and the security factor information is different from one another, each condition included in the determination condition corresponds to each piece of security factor information.
In the lane-changing scenario shown in fig. 1, the front obstacle 20 (including the isolation cone and the lower-left corner vehicle) affects the safety of the current vehicle 10 during the entire lane-changing process, and the rear obstacle 20 (i.e., the lower-right corner vehicle) affects the safety of the current vehicle 10 only before the current vehicle 10 switches to the target lane. Therefore, the front obstacle can be directly judged according to the acquired state information; for the rear obstacle, the acquired state information and whether the current vehicle reaches the target lane can be combined for judgment.
Through the steps, in the process that the current vehicle is switched from the current lane to the target lane to run, whether an obstacle exists in the running range of the current vehicle is detected, under the condition that the obstacle is sensed in the running range, firstly, the state information of the obstacle is obtained, the state information comprises a plurality of safety factor information used for determining whether the obstacle is an effective obstacle, under the condition that the position of the obstacle relative to the current vehicle is different, the plurality of safety factor information contained in the state information is not identical, then, the judgment result of the obstacle is obtained at least based on the state information, the judgment result is used for representing whether the obstacle is the effective obstacle, and through fully considering the actual condition when the vehicle changes lanes, the passing performance and the safety of lane changing can be simultaneously ensured, the calculation efficiency is improved as much as possible, the redundant calculation is reduced, and the problem that the automatic driving vehicle cannot accurately distinguish the effective obstacle in the lane changing process is solved, there is a problem of a risk of driving safety.
Fig. 3 is a flowchart of a method of deriving a determination result of an obstacle based on at least status information according to the present disclosure, as shown in fig. 3, the flowchart including the steps of:
in step S302, the relative position of the obstacle with respect to the current vehicle is acquired.
The relative position in the above steps may be sensed by a lidar, and in the embodiment of the present disclosure, the relative position may be divided into front and rear of the current vehicle. Aiming at the obstacles at different positions, different information is adopted to judge whether the obstacles are effective obstacles, so that the method provided by the embodiment of the disclosure can be suitable for the obstacles in different conditions in a complex environment, and the accuracy of judging the effective obstacles is improved.
In step S304, when the relative position is in front of the current vehicle, a determination result is obtained based on the state information.
For the case where the relative position is in front of the current vehicle, if the acquired state information includes the state information including the first distance between the obstacle and the current vehicle, the lane where the obstacle is located, and the second distance between the obstacle and the target lane, the step of obtaining the determination result based on the state information may further include the steps of:
determining whether the first distance satisfies a distance determination condition; obtaining a judgment result based on the first distance under the condition that the first distance meets the distance judgment condition; determining whether the lane in which the obstacle is located meets a lane determination condition under the condition that the first distance does not meet the distance determination condition; obtaining a judgment result based on the second distance under the condition that the lane where the obstacle is located meets the lane judgment condition; when the lane in which the obstacle is located does not satisfy the lane determination condition, the determination result is determined that the obstacle is not a valid obstacle.
For the obstacle ahead, as shown in fig. 1, the distance of the obstacle 20 is linked to the safe driving of the current vehicle 10, wherein the closer the obstacle 20 is to the current vehicle 10, the greater the influence on the safety of the current vehicle 10, and the farther the obstacle 20 is from the current vehicle 10, the smaller the influence on the safety of the current vehicle 10. Therefore, in order to avoid the influence of the distance of the obstacle on the safety of the current vehicle and achieve the effect of accurately judging the effective obstacle, a distance judgment condition can be preset, and if the first distance between the obstacle and the current vehicle meets the distance judgment condition, the judgment result cannot be accurately obtained based on the first distance; if the first distance between the obstacle and the current vehicle does not satisfy the distance determination condition, it is determined that the determination result can be accurately obtained based on the first distance.
Optionally, the distance determination condition includes: the first distance is greater than a first preset distance and less than a second preset distance, wherein the first preset distance can be the minimum safe distance between the obstacle and the current vehicle, and if the first distance between the obstacle and the current vehicle is less than the minimum safe distance, the obstacle can be directly determined to be an effective obstacle and needs to be reserved; the second preset distance may be a maximum judgment distance between the obstacle and the current vehicle, and if the first distance between the obstacle and the current vehicle is greater than the maximum judgment distance, it indicates that the obstacle does not have a safety influence on the current vehicle, and the obstacle may be determined to be an invalid obstacle, and may be directly deleted without being retained.
Similarly, as shown in fig. 1, during the lane change process, the obstacle 20 is very closely related to the lane, and the closer the lane where the obstacle 20 is located is to the current lane, the greater the safety influence on the current vehicle 10, and the farther the lane where the obstacle 20 is located is from the current lane, the smaller the safety influence on the current vehicle 10. Therefore, in order to avoid the influence of the lane where the obstacle is located on the safety of the current vehicle and achieve the effect of accurately judging the effective obstacle, lane judgment conditions can be preset, and if the lane where the obstacle is located meets the lane judgment conditions, it is determined that the judgment result cannot be accurately obtained on the basis of the lane where the obstacle is located; and if the lane where the obstacle is located does not meet the lane judgment condition, determining that the lane where the obstacle is located has no influence on the safety of the current vehicle, wherein the obstacle is an invalid obstacle, does not need to be reserved and can be directly deleted.
Optionally, for a front obstacle, since the lane where the obstacle is located affects safe driving before the current vehicle switches to the target lane, in order to reduce the influence of the lane where the front obstacle is located on the safety of the current vehicle and achieve the effect of accurately determining an effective obstacle, the lane determination condition may include: the lane in which the obstacle is located is the current lane or a lane adjacent to the current lane.
In the embodiment of the present disclosure, the state information includes a plurality of safety factor information, and the importance levels of the plurality of safety factor information can be determined to be different by analyzing the actual scene, so that, in order to improve the determination accuracy of the effective obstacle and improve the calculation efficiency, each safety factor information can be determined according to the order from heavy to light of the importance levels of the plurality of safety factor information, thereby obtaining the final determination result. In some embodiments, in the case where the state information includes a first distance of the obstacle from the current vehicle, a lane where the obstacle is located, and a second distance of the obstacle from the target lane, first, determination may be made based on the first distance, that is, the first distance is compared with the distance determination condition; then, under the condition that the first distance does not satisfy the distance determination condition, that is, the determination result cannot be accurately obtained based on the first distance, the determination may be performed based on the lane where the obstacle is located, that is, the lane where the obstacle is located is compared with the lane determination condition, and if the lane where the obstacle is located does not satisfy the lane determination condition, the determination result is that the obstacle is not an effective obstacle; finally, in the case where the lane where the obstacle is located satisfies the lane determination condition, that is, the determination result cannot be accurately obtained based on the lane where the obstacle is located, the determination may be performed based on the second distance, so that the final determination result may be obtained.
Optionally, obtaining the determination result based on the first distance further includes: determining that the obstacle is an effective obstacle according to a determination result under the condition that the first distance is smaller than a first preset distance; and determining that the obstacle is not the effective obstacle according to the judgment result when the first distance is larger than the second preset distance.
In the embodiment of the present disclosure, under the condition that the determination result can be accurately obtained based on the first distance between the obstacle and the current vehicle, that is, the first distance is smaller than the first preset distance, or the first distance is greater than the second preset distance, since the smaller the first distance is, the closer the obstacle to the current vehicle is, the greater the influence on the safety of the current vehicle is, in order to improve the calculation efficiency, the determination may be directly performed based on the size of the first distance, and if the first distance is smaller than the first preset distance, it may be directly determined that the obstacle is an effective obstacle and needs to be retained; if the first distance is larger than the second preset distance, the obstacle is not influenced by the current vehicle safely, and the obstacle can be determined to be an invalid obstacle, does not need to be reserved, and can be deleted directly.
Optionally, obtaining the determination result based on the second distance further includes: determining that the obstacle is an effective obstacle according to the determination result when the second distance is smaller than or equal to a third preset distance; and under the condition that the second distance is greater than the third preset distance, determining that the obstacle is not a valid obstacle according to the judgment result.
As shown in fig. 1, for a front obstacle 20 (including an isolation cone and a lower left corner vehicle), since the closer the second distance between the obstacle 20 and a target lane is, the greater the influence of the obstacle 20 on lane change driving of the current vehicle is, therefore, in order to avoid the influence of the obstacle on the safety of lane change driving of the current vehicle and achieve the effect of accurately determining an effective obstacle, a third preset distance may be preset, and if the second distance is less than or equal to the third preset distance, the obstacle may be directly determined to be an effective obstacle and needs to be reserved; if the second distance is larger than the third preset distance, the obstacle is not safe to the current lane change driving of the vehicle, and the obstacle can be determined to be an invalid obstacle, does not need to be reserved, and can be directly deleted.
For the case where the relative position is in front of the current vehicle, if the lane where the obstacle is located is not acquired, that is, the acquired state information includes state information including a first distance between the obstacle and the current vehicle and a second distance between the obstacle and the target lane, the step of obtaining the determination result based on the state information may further include the steps of:
determining whether the first distance satisfies a distance determination condition; obtaining a judgment result based on the first distance under the condition that the first distance meets the distance judgment condition; in the case where the first distance does not satisfy the distance determination condition, a determination result is obtained based on the second distance.
The distance determination condition in the above step is the same as the distance determination condition described above, and is not described herein again.
In the embodiment of the present disclosure, in order to improve the determination accuracy of the effective obstacle and improve the calculation efficiency, in the case that the state information includes the first distance between the obstacle and the current vehicle and the second distance between the obstacle and the target lane, first, the determination may be performed based on the first distance, that is, the first distance is compared with the distance determination condition; then, in a case where the first distance does not satisfy the distance determination condition, that is, a determination result cannot be accurately obtained based on the first distance, the determination may be performed based on the second distance, so that a final determination result may be obtained.
It should be noted that the implementation schemes of the two steps of obtaining the determination result based on the first distance and obtaining the determination result based on the second distance are the same as those described above, and are not described herein again.
And step S306, under the condition that the relative position is behind the current vehicle, obtaining a judgment result based on the state information and the running state of the current vehicle, wherein the running state is used for representing whether the current vehicle reaches the target lane.
For the case where the relative position is behind the current vehicle, the acquired state information may include a first distance between the obstacle and the current vehicle, a lane where the obstacle is located, and a speed of the obstacle, and obtaining the determination result based on the state information and the driving state of the current vehicle includes:
determining whether the first distance satisfies a distance determination condition; obtaining a judgment result based on the first distance under the condition that the first distance meets the distance judgment condition; under the condition that the first distance does not meet the distance judgment condition, determining whether the lane where the obstacle is located is a target lane or not and whether the driving state is that the current vehicle reaches the target lane or not; obtaining a determination result based on the speed of the obstacle in the case where the lane in which the obstacle is located is a target lane and the driving state is that the current vehicle reaches the target lane; in the case where the lane in which the obstacle is located is not the target lane, or the driving state is that the current vehicle does not reach the target lane, it is determined that the obstacle is not a valid obstacle as a result of the determination.
The distance determination condition in the above step is the same as the distance determination condition described above, and is not described herein again. It should be noted that, for the front obstacle and the rear obstacle, the distance requirement for the obstacle in the lane change process is different, and therefore, in the embodiment of the present disclosure, for the front obstacle and the rear obstacle, the value of the first preset distance is different, and the value of the second preset distance is also different.
In the embodiment of the present disclosure, in order to improve the determination accuracy of the effective obstacle and improve the calculation efficiency, the state information includes the first distance between the obstacle and the current vehicle, the lane where the obstacle is located, and the speed of the obstacle, first, the determination may be performed based on the first distance, that is, the first distance is compared with the distance determination condition; then, in the case where the first distance does not satisfy the distance determination condition, that is, the determination result cannot be accurately obtained based on the first distance, as shown in fig. 1, since the obstacle 20 located behind the target lane (i.e., the lower-right corner vehicle) may affect the safety of the present vehicle before the present vehicle 10 completes the lane change, therefore, the determination may be made based on the lane in which the obstacle is located and the current driving state of the vehicle, that is, the lane in which the obstacle is located is compared with the target lane, meanwhile, whether the driving state is that the current vehicle reaches the target lane is judged, if the lane where the obstacle is located is not the target lane, or the driving state is that the current vehicle does not reach the target lane, the obstacle has no safety influence on the lane change driving of the current vehicle, and the obstacle is not an effective obstacle and does not need to be reserved and can be directly deleted; finally, in the case where the lane in which the obstacle is located is not the target lane, or the traveling state is such that the current vehicle does not reach the target lane, the determination may be further made based on the speed of the obstacle, so that the final determination result may be obtained.
It should be noted that the implementation of the step of obtaining the determination result based on the first distance is the same as that described above, and is not described herein again.
Optionally, obtaining the determination result based on the speed of the obstacle includes: determining a speed upper limit corresponding to the first distance; determining whether the speed of the obstacle is greater than an upper speed limit; determining that the obstacle is an effective obstacle according to the determination result when the speed of the obstacle is greater than the upper speed limit; when the speed of the obstacle is less than or equal to the upper speed limit, the obstacle is determined not to be a valid obstacle as a result of the determination.
In the disclosed embodiment, as shown in fig. 1, if the speed of the rear obstacle 20 (i.e. the lower right-hand corner vehicle) is large, even if the rear obstacle 20 is far away from the current vehicle 10 at this time, the driving safety of the current vehicle 10 may also be affected (for example, the current vehicle 10 is rear-ended by the lower right-hand corner vehicle after changing lane), so, in order to avoid the influence of the speed of the obstacle on the safety of the current vehicle and achieve the effect of accurately determining a valid obstacle, first, for a first distance between the obstacle and the current vehicle, an upper speed limit v _ max of the obstacle at the distance may be determined, where v _ max increases with the increase of the first distance, then the speed of the obstacle may be compared with the upper speed limit v _ max, and if the speed of the obstacle is greater than the upper speed limit v _ max, it is indicated that the obstacle has a safety influence on the current lane changing driving, the obstacle can be directly determined to be an effective obstacle and needs to be reserved; if the second distance is larger than the third preset distance, the obstacle is not safe to the current lane change driving of the vehicle, and the obstacle can be determined to be an invalid obstacle, does not need to be reserved, and can be directly deleted.
Further, since the upper speed limit is related to the first distance between the obstacle and the current vehicle, the upper speed limit corresponding to the first distance may be determined based on the correspondence relationship between the speed and the distance in order to improve the calculation efficiency. The correspondence relationship here can be realized by using a calculation formula, a mapping table, etc., but is not limited thereto.
Fig. 4 is a flowchart of a method of determining a valid obstacle according to a second embodiment of the present disclosure, as shown in fig. 4, the flowchart including the steps of: ,
in step S402, an obstacle is detected within the travel range of the current vehicle.
In the disclosed embodiment, the front obstacle and the rear obstacle of the current vehicle can be treated separately, and an effective obstacle is determined and retained.
Step S404, for the front obstacle, firstly, judging the distance of the obstacle, and if the first distance between the obstacle and the current vehicle is less than a first preset distance, determining that the obstacle is an effective obstacle and needs to be reserved; if the first distance between the obstacle and the current vehicle is greater than the second preset distance, determining that the obstacle is an invalid obstacle and needing to be deleted; if the first distance between the obstacle and the current vehicle is between the first preset distance and the second preset distance, the step S406 is proceeded to.
Step S406, judging the lane of the obstacle, and if the lane where the obstacle is located is the current lane where the current vehicle runs, or the adjacent lane at the left and right of the current lane, or the lane line of the obstacle is missing, entering step S408; otherwise, determining the obstacle as an invalid obstacle and needing to be deleted.
Step S408, judging the distance between the obstacle and the lane, judging whether the second distance between the obstacle and the target lane is less than or equal to a first preset distance, if so, determining that the obstacle is an effective obstacle and needs to be reserved; if not, the obstacle is determined to be an invalid obstacle and needs to be deleted.
Step S410, for a rear obstacle, firstly, judging the distance of the obstacle, and if the first distance between the obstacle and the current vehicle is less than a first preset distance, determining that the obstacle is an effective obstacle and needs to be reserved; if the first distance between the obstacle and the current vehicle is greater than the second preset distance, determining that the obstacle is an invalid obstacle and needing to be deleted; if the first distance between the obstacle and the current vehicle is between the first preset distance and the second preset distance, the step S412 is proceeded to.
Step S412, judging the lane of the obstacle, if the current vehicle does not reach the target lane, further judging whether the lane where the obstacle is located is the target lane, if so, entering step S414; if not, the obstacle is determined to be an invalid obstacle and needs to be deleted. And if the current vehicle reaches the target lane, determining that the obstacle is an invalid obstacle and needing to be deleted no matter whether the lane where the obstacle is located is the target lane or not.
Step S414, judging the speed of the obstacle, firstly, calculating the upper speed limit of the obstacle at the distance according to the first distance between the obstacle and the current vehicle, and if the speed of the obstacle is greater than the upper speed limit, determining that the obstacle is an effective obstacle and needs to be reserved; and if the speed of the obstacle is less than or equal to the upper speed limit, determining that the obstacle is an invalid obstacle and needing to be deleted.
The scheme provided by the embodiment of the disclosure fully considers the situation during lane changing, can improve the processing and adaptation capability of the method for different situations, has more precise processing results, ensures the passing performance and safety of lane changing, improves the calculation efficiency as much as possible, and reduces redundant calculation.
According to the embodiments of the present disclosure, the present disclosure further provides a device for determining an effective obstacle, where the device is used to implement the above embodiments and preferred embodiments, and the description of the device is omitted. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware, or a combination of software and hardware is also possible and contemplated.
Fig. 5 is a schematic view of an apparatus for determining a valid obstacle according to a second embodiment of the present disclosure, as shown in fig. 5, the apparatus including: the detection module 52 is configured to detect whether an obstacle exists in a driving range of the current vehicle in a process that the current vehicle is switched from a current lane to a target lane; an obtaining module 54, configured to obtain state information of an obstacle when the obstacle is sensed in a driving range, where the state information includes a plurality of safety factor information used to determine whether the obstacle is an effective obstacle, and the plurality of safety factor information included in the state information is not completely the same when the obstacle is located at different positions relative to a current vehicle; and a determining module 56, configured to obtain a determination result of the obstacle based on at least the state information, where the determination result is used to represent whether the obstacle is a valid obstacle.
Optionally, the determining module includes: an acquisition unit configured to acquire a relative position of an obstacle with respect to a current vehicle; a first determination unit configured to obtain a determination result based on the state information in a case where the relative position is in front of the current vehicle; and a second determination unit configured to obtain a determination result based on the state information and a driving state of the current vehicle in a case where the relative position is behind the current vehicle, wherein the driving state is used to represent whether the current vehicle reaches the target lane.
Optionally, in a case that the relative position is in front of the current vehicle, the state information includes a first distance between the obstacle and the current vehicle, a lane where the obstacle is located, and a second distance between the obstacle and the target lane, and the first determination unit is further configured to: determining whether the first distance satisfies a distance determination condition; determining whether the obstacle is a valid obstacle based on the first distance to obtain a determination result under the condition that the first distance meets the distance determination condition; determining whether the lane in which the obstacle is located meets a lane determination condition under the condition that the first distance does not meet the distance determination condition; determining whether the obstacle is a valid obstacle based on a second distance obtaining determination result under the condition that the lane where the obstacle is located meets the lane determination condition; when the lane in which the obstacle is located does not satisfy the lane determination condition, the determination result is determined that the obstacle is not a valid obstacle.
Optionally, when the relative position is in front of the current vehicle, the state information includes a first distance between the obstacle and the current vehicle and a second distance between the obstacle and the target lane, and the first determination unit is further configured to: determining whether the first distance satisfies a distance determination condition; obtaining a judgment result based on the first distance under the condition that the first distance meets the distance judgment condition; in the case where the first distance does not satisfy the distance determination condition, a determination result is obtained based on the second distance.
Optionally, in a case that the relative position is behind the current vehicle, the state information includes a first distance between the obstacle and the current vehicle, a lane where the obstacle is located, and a speed of the obstacle, and the second determination unit is further configured to: determining whether the first distance satisfies a distance determination condition; obtaining a judgment result based on the first distance under the condition that the first distance meets the distance judgment condition; under the condition that the first distance does not meet the distance judgment condition, determining whether the lane where the obstacle is located is a target lane or not and whether the driving state is that the current vehicle reaches the target lane or not; obtaining a determination result based on the speed of the obstacle in the case where the lane in which the obstacle is located is a target lane and the driving state is that the current vehicle reaches the target lane; in the case where the lane in which the obstacle is located is not the target lane, or the driving state is that the current vehicle does not reach the target lane, it is determined that the obstacle is not a valid obstacle as a result of the determination.
Optionally, the distance determination condition includes: the first distance is greater than a first preset distance and less than a second preset distance.
Optionally, the first determining unit or the second determining unit is further configured to: determining that the obstacle is an effective obstacle according to a determination result under the condition that the first distance is smaller than a first preset distance; and determining that the obstacle is not the effective obstacle according to the judgment result when the first distance is larger than the second preset distance.
Optionally, the lane determination condition includes: the lane in which the obstacle is located is the current lane or a lane adjacent to the current lane.
Optionally, the first determining unit is further configured to: determining that the obstacle is an effective obstacle according to the determination result when the second distance is smaller than or equal to a third preset distance; and under the condition that the second distance is greater than the third preset distance, determining that the obstacle is not a valid obstacle according to the judgment result.
Optionally, the second determination unit is further configured to: determining a speed upper limit corresponding to the first distance; determining whether the speed of the obstacle is greater than an upper speed limit; determining that the obstacle is an effective obstacle according to the determination result when the speed of the obstacle is greater than the upper speed limit; when the speed of the obstacle is less than or equal to the upper speed limit, the obstacle is determined not to be a valid obstacle as a result of the determination.
Optionally, the second determination unit is further configured to: and determining the upper speed limit corresponding to the first distance based on the corresponding relation between the speed and the distance.
In the technical scheme of the disclosure, the acquisition, storage, application and the like of the personal information of the related user all accord with the regulations of related laws and regulations, and do not violate the good customs of the public order.
The present disclosure also provides an electronic device, a readable storage medium, and a computer program product according to embodiments of the present disclosure.
FIG. 6 illustrates a schematic block diagram of an example electronic device 600 that can be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the disclosure described and/or claimed herein.
As shown in fig. 6, the apparatus 600 includes a computing unit 601, which can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM)602 or a computer program loaded from a storage unit 608 into a Random Access Memory (RAM) 603. In the RAM 603, various programs and data required for the operation of the device 600 can also be stored. The calculation unit 601, the ROM 602, and the RAM 603 are connected to each other via a bus 604. An input/output (I/O) interface 605 is also connected to bus 604.
A number of components in the device 600 are connected to the I/O interface 605, including: an input unit 606 such as a keyboard, a mouse, or the like; an output unit 607 such as various types of displays, speakers, and the like; a storage unit 608, such as a magnetic disk, optical disk, or the like; and a communication unit 609 such as a network card, modem, wireless communication transceiver, etc. The communication unit 609 allows the device 600 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.
The computing unit 601 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of the computing unit 601 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and so forth. The calculation unit 601 executes the respective methods and processes described above, such as a method of determining a valid obstacle. For example, in some embodiments, the method of determining a valid obstacle may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as storage unit 608. In some embodiments, part or all of the computer program may be loaded and/or installed onto the device 600 via the ROM 602 and/or the communication unit 609. When the computer program is loaded into the RAM 603 and executed by the computing unit 601, one or more steps of the above described method of determining a valid obstacle may be performed. Alternatively, in other embodiments, the calculation unit 601 may be configured by any other suitable means (e.g. by means of firmware) to perform the method of determining a valid obstacle.
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on 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.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.
The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server with a combined blockchain.
According to an embodiment of the present disclosure, the present disclosure also provides an autonomous vehicle. The autonomous vehicle includes the apparatus for determining a valid obstacle provided in the above-described embodiment, or the electronic device provided in the above-described embodiment.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present disclosure may be executed in parallel, sequentially, or in different orders, as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved, and the present disclosure is not limited herein.
The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the scope of protection of the present disclosure.
Claims (17)
1. A method of determining a valid obstacle, comprising:
in the process that a current vehicle is switched from a current lane to a target lane to run, detecting whether an obstacle exists in the running range of the current vehicle;
acquiring state information of the obstacle when the obstacle is sensed in the driving range, wherein the state information includes a plurality of safety factor information for determining whether the obstacle is a valid obstacle, and the plurality of safety factor information included in the state information is not completely the same when the position of the obstacle relative to the current vehicle is different;
and obtaining a judgment result of the obstacle at least based on the state information, wherein the judgment result is used for representing whether the obstacle is the effective obstacle.
2. The method of claim 1, wherein the deriving a determination of the obstacle based on at least the state information of the obstacle comprises:
acquiring the relative position of the obstacle relative to the current vehicle;
obtaining the determination result based on the state information in a case where the relative position is in front of the current vehicle;
and obtaining the determination result based on the state information and a driving state of the current vehicle when the relative position is behind the current vehicle, wherein the driving state is used for representing whether the current vehicle reaches the target lane.
3. The method according to claim 2, wherein, in a case where the relative position is forward of the current vehicle, the state information includes a first distance of the obstacle from the current vehicle, a lane in which the obstacle is located, and a second distance of the obstacle from the target lane, and the deriving the determination result based on the state information includes:
determining whether the first distance satisfies a distance decision condition;
obtaining the determination result based on the first distance when the first distance satisfies the distance determination condition;
determining whether the lane in which the obstacle is located satisfies a lane determination condition, if the first distance does not satisfy the distance determination condition;
obtaining the judgment result based on the second distance when the lane where the obstacle is located meets the lane judgment condition;
and determining that the obstacle is not the effective obstacle as a result of the determination when the lane in which the obstacle is located does not satisfy the lane determination condition.
4. The method according to claim 2, wherein the state information includes a first distance of the obstacle from the current vehicle and a second distance of the obstacle from the target lane in a case where the relative position is forward of the current vehicle, the deriving the determination result based on the state information includes:
determining whether the first distance satisfies a distance decision condition;
obtaining the determination result based on the first distance when the first distance satisfies the distance determination condition;
and obtaining the judgment result based on the second distance when the first distance does not satisfy the distance judgment condition.
5. The method according to claim 2, wherein, in a case where the relative position is rearward of the current vehicle, the state information includes a first distance of the obstacle from the current vehicle, a lane in which the obstacle is located, and a speed of the obstacle, and the deriving the determination result based on the state information and a driving state of the current vehicle includes:
determining whether the first distance satisfies a distance decision condition;
obtaining the determination result based on the first distance when the first distance satisfies the distance determination condition;
determining whether the lane in which the obstacle is located is the target lane and whether the driving state is that the current vehicle reaches the target lane, if the first distance does not satisfy the distance determination condition;
obtaining the determination result based on a speed of the obstacle in a case where the lane in which the obstacle is located is the target lane and the travel state is that the current vehicle reaches the target lane;
determining that the obstacle is not the valid obstacle as a result of the determination, in a case where the lane in which the obstacle is located is not the target lane, or the travel state is that the current vehicle does not reach the target lane.
6. The method according to any one of claims 3 to 5, wherein the distance determination condition includes: the first distance is greater than a first preset distance and less than a second preset distance.
7. The method of claim 6, wherein said deriving the determination based on the first distance comprises:
determining that the obstacle is the effective obstacle according to the determination result when the first distance is smaller than the first preset distance;
and determining that the obstacle is not the effective obstacle according to the determination result when the first distance is greater than the second preset distance.
8. The method according to claim 3, wherein the lane determination condition includes: the lane where the obstacle is located is the current lane or a lane adjacent to the current lane.
9. The method of claim 3 or 4, wherein said deriving the determination based on the second distance comprises:
determining that the obstacle is the effective obstacle according to the determination result when the second distance is smaller than or equal to a third preset distance;
and determining that the obstacle is not the effective obstacle according to the determination result when the second distance is greater than the third preset distance.
10. The method of claim 5, wherein the deriving the determination based on the velocity of the obstacle comprises:
determining an upper speed limit corresponding to the first distance;
determining whether the speed of the obstacle is greater than the upper speed limit;
determining that the obstacle is the effective obstacle as a result of the determination when the speed of the obstacle is greater than the upper speed limit;
determining that the obstacle is not the effective obstacle as a result of the determination, in a case where the speed of the obstacle is less than or equal to the upper speed limit.
11. The method of claim 10, wherein the upper speed limit for the first distance is determined based on a speed to distance correspondence.
12. An apparatus for determining a valid obstacle, comprising:
the system comprises a detection module, a judgment module and a control module, wherein the detection module is used for detecting whether an obstacle exists in a driving range of a current vehicle in the process that the current vehicle is switched from a current lane to a target lane;
an obtaining module, configured to obtain state information of the obstacle when the obstacle is sensed in the driving range, where the state information includes a plurality of safety factor information used to determine whether the obstacle is a valid obstacle, and the plurality of safety factor information included in the state information is not completely the same when the obstacle is located at different positions relative to the current vehicle;
and the judging module is used for obtaining a judging result of the obstacle at least based on the state information, wherein the judging result is used for representing whether the obstacle is the effective obstacle.
13. The apparatus of claim 12, wherein the determining means comprises:
an acquisition unit configured to acquire a relative position of the obstacle with respect to the current vehicle;
a first determination unit configured to obtain the determination result based on the state information in a case where the relative position is in front of the current vehicle;
a second determination unit configured to obtain the determination result based on the state information and a driving state of the current vehicle when the relative position is behind the current vehicle, wherein the driving state is used for indicating whether the current vehicle reaches the target lane.
14. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-11.
15. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-10.
16. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any one of claims 1-11.
17. An autonomous vehicle comprising an apparatus for determining a valid obstacle according to claim 12 or 13, or an electronic device according to claim 14.
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