CN114379587A - Method and device for avoiding pedestrian in automatic driving - Google Patents
Method and device for avoiding pedestrian in automatic driving Download PDFInfo
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- CN114379587A CN114379587A CN202111623689.XA CN202111623689A CN114379587A CN 114379587 A CN114379587 A CN 114379587A CN 202111623689 A CN202111623689 A CN 202111623689A CN 114379587 A CN114379587 A CN 114379587A
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- 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
- B60W60/0017—Planning or execution of driving tasks specially adapted for safety of other traffic participants
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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
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- 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
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Abstract
The invention provides a method and a device for avoiding pedestrians in automatic driving, electronic equipment and a readable storage medium, and relates to the technical field of artificial intelligence such as automatic driving and intelligent transportation. The method for avoiding the pedestrian in automatic driving comprises the following steps: in response to detecting that a target pedestrian exists in front of a vehicle, acquiring motion information and/or traffic light information corresponding to the target pedestrian; obtaining the movement intention of the target pedestrian according to the movement information and/or traffic signal lamp information corresponding to the target pedestrian; and generating a pedestrian avoidance scheme according to the movement intention of the target pedestrian. The method and the device can enable the vehicle to avoid the pedestrian crossing the road more reasonably, thereby improving the safety of the vehicle in automatic driving.
Description
Technical Field
The present disclosure relates to the field of data processing technology, and in particular, to the field of artificial intelligence technology such as automatic driving and intelligent transportation. The method, the device, the electronic equipment and the readable storage medium for avoiding the pedestrian in the automatic driving are provided.
Background
During the driving process of the automatic driving vehicle, a driving path is planned for the automatic driving vehicle, so that the automatic driving vehicle can drive according to the driving path. However, during actual driving of the autonomous vehicle, pedestrians often occur, and the movement of the pedestrians may affect the driving of the autonomous vehicle.
In the prior art, when a pedestrian is avoided in automatic driving, the pedestrian is usually avoided according to the distance between the pedestrian and an automatic driving vehicle, or whether the pedestrian track is avoided by meeting the running track of the automatic driving vehicle is judged, but the problems of inaccurate distance judgment, inaccurate pedestrian track judgment and the like exist, so that the pedestrian cannot be avoided in time to generate traffic accidents.
Disclosure of Invention
According to a first aspect of the present disclosure, there is provided a method of avoiding a pedestrian in automatic driving, comprising: in response to detecting that a target pedestrian exists in front of a vehicle, acquiring motion information and/or traffic light information corresponding to the target pedestrian; obtaining the movement intention of the target pedestrian according to the movement information and/or traffic signal lamp information corresponding to the target pedestrian; and generating a pedestrian avoidance scheme according to the movement intention of the target pedestrian.
According to a second aspect of the present disclosure, there is provided an apparatus for avoiding a pedestrian in automatic driving, comprising: the acquiring unit is used for responding to the detection that a target pedestrian exists in front of the vehicle and acquiring motion information and/or traffic signal lamp information corresponding to the target pedestrian; the processing unit is used for obtaining the movement intention of the target pedestrian according to the movement information and/or traffic signal lamp information corresponding to the target pedestrian; and the avoidance unit is used for generating a pedestrian avoidance scheme according to the movement intention of the target pedestrian.
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 as described above.
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 as described above.
According to a fifth aspect of the present disclosure, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the method as described above.
According to the technical scheme, the problem that pedestrians cannot be avoided in time due to the fact that the pedestrians suddenly start to cross the road or the prediction of the movement speed of the pedestrians is inaccurate can be effectively avoided by inferring the movement intention of the pedestrians, the pedestrians crossing the road can be avoided more reasonably by the vehicles, and therefore the safety of the vehicles in automatic driving is improved.
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 schematic diagram according to a first embodiment of the present disclosure;
FIG. 2 is a schematic diagram according to a second embodiment of the present disclosure;
FIG. 3 is a schematic diagram according to a third embodiment of the present disclosure;
FIG. 4 is a schematic diagram according to a fourth embodiment of the present disclosure;
FIG. 5 is a schematic diagram according to a fifth embodiment of the present disclosure;
FIG. 6 is a schematic diagram according to a sixth embodiment of the present disclosure;
fig. 7 is a block diagram of an electronic device for implementing a method of avoiding a pedestrian in autonomous driving 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.
Fig. 1 is a schematic diagram according to a first embodiment of the present disclosure. As shown in fig. 1, the method for avoiding pedestrians in automatic driving of the embodiment specifically includes the following steps:
s101, responding to the fact that a target pedestrian exists in front of a vehicle, and acquiring motion information and/or traffic light information corresponding to the target pedestrian;
s102, obtaining the movement intention of the target pedestrian according to the movement information and/or traffic light information corresponding to the target pedestrian;
and S103, generating a pedestrian avoidance scheme according to the movement intention of the target pedestrian.
According to the method for avoiding the pedestrian in the automatic driving, after the target pedestrian is detected to exist in front of the vehicle, firstly, the motion information and/or traffic light information corresponding to the target pedestrian is obtained, then the motion intention of the target pedestrian is obtained according to the motion information and/or traffic light information, and finally, the scheme for avoiding the pedestrian is generated according to the motion intention of the target pedestrian.
The execution subject of the present embodiment is located in a vehicle, for example, a planning module for path planning or a control module for controlling vehicle running in the vehicle, and the vehicle in the present embodiment is a vehicle with an automatic driving capability.
The motion information of the corresponding target pedestrian acquired in S101 in the present embodiment includes the motion direction of the target pedestrian, and further includes information such as the position of the target pedestrian, the motion speed of the target pedestrian, and the like.
In the embodiment, when S101 is executed, the sensing module on the vehicle senses the surrounding environment to detect the pedestrian, so as to acquire information such as the position, the movement speed, and the like of the target pedestrian, which is output by the sensing module; the information such as the position, the movement speed and the like of the target pedestrian is predicted through a prediction module on the vehicle, so that the movement direction of the target pedestrian output by the prediction module is obtained.
In this embodiment, the traffic light information of the corresponding target pedestrian obtained in S101 is specifically the traffic light information of the pedestrian crossing where the target pedestrian is located when crossing the road, and the traffic light information of the corresponding target pedestrian is one of the red light and the green light.
In executing S101, the present embodiment senses the surrounding environment through the sensing module on the vehicle to detect the traffic signal, so as to acquire the traffic signal information of the pedestrian crossing where the target pedestrian is located when crossing the road, which is output by the sensing module.
That is to say, this embodiment can obtain the relevant information of corresponding target pedestrian to dodge the pedestrian to the arbitrary scene when there is traffic signal lamp or no traffic signal lamp crossing the road to the pedestrian, avoids the emergence of traffic accident, further promotes the security that the vehicle travel.
When S101 is executed to detect whether there is a target pedestrian in front of the vehicle, the present embodiment may adopt alternative implementations as follows: detecting a pedestrian ahead of the vehicle, for example, ahead of a current lane in which the vehicle is traveling; in a case where it is determined that the detected pedestrian is located in a preset range in front of the vehicle, the detected pedestrian is taken as a target pedestrian.
That is to say, the embodiment determines whether the pedestrian in front of the vehicle is the target pedestrian according to the preset range, and avoids avoiding taking the pedestrian with too long distance as the target pedestrian, so as to improve the detection accuracy of the target pedestrian and the effectiveness of the generated pedestrian avoidance scheme.
It can be understood that the number of target pedestrians detected by executing S101 in the present embodiment may be one, or may be multiple; if a plurality of target pedestrians are detected, the embodiment executes S101 to respectively acquire motion information and/or traffic light information corresponding to each target pedestrian.
After executing S101 to acquire the motion information and/or traffic light information of the corresponding target pedestrian, executing S102 to obtain the motion intention of the target pedestrian according to the motion information and/or traffic light information of the corresponding target pedestrian.
Similarly, if the present embodiment executes S101 to acquire the motion information and/or traffic light information corresponding to a plurality of target pedestrians, the present embodiment obtains the motion intention of each target pedestrian according to the motion information and/or traffic light information corresponding to each target pedestrian when executing S102.
Specifically, when S102 is executed to obtain the movement intention of the target pedestrian according to the movement information of the corresponding target pedestrian, the present embodiment may adopt the following optional implementation manners: determining a target lane line corresponding to a target pedestrian when crossing a road; taking the angle value of an included angle between the determined target lane line and the moving direction of the target pedestrian as the moving direction angle value of the target pedestrian; and under the condition that the movement direction angle value of the target pedestrian meets the preset requirement, taking the crossing road as the movement intention of the target pedestrian, otherwise, not crossing the road as the movement intention of the target pedestrian.
That is to say, in the present embodiment, the movement intention of the target pedestrian is obtained by the movement direction of the target pedestrian crossing the road and the target lane line, so as to achieve the purpose of estimating the movement intention of the dynamic pedestrian crossing the road, thereby improving the accuracy of the obtained movement intention.
In the present embodiment, when S102 is executed to determine the target lane line corresponding to the target pedestrian when crossing the road, the lane line closest to the target pedestrian may be used as the target lane line, from the lane lines on both sides of the current lane where the vehicle is traveling, according to the position of the target pedestrian.
For example, if the target pedestrian crosses the road from the right side of the vehicle, the embodiment executes S102 with the right lane line as the target lane line; if the target pedestrian crosses the road from the left side of the vehicle, the present embodiment sets the left lane line as the target lane line when executing S102.
In the embodiment, when determining whether the value of the movement direction angle of the target pedestrian meets the preset requirement S102, the optional implementation manner that can be adopted is as follows: acquiring an angle value range corresponding to a target lane line, for example, the angle value range corresponding to a right lane line is [ theta, pi-theta ], the angle value range corresponding to a left lane line is [ - (pi-theta), -theta ], and theta is a preset angle threshold; and under the condition that the determined movement direction angle value is within the acquired angle value range, determining that the movement direction angle value meets the preset requirement.
That is to say, the present embodiment determines whether the angle value of the moving direction of the target pedestrian meets the preset requirement by presetting the angle value ranges corresponding to different lane lines, so as to improve the accuracy of the determined moving intention of the target pedestrian.
In this embodiment, when S102 is executed to determine whether the movement direction angle value of the target pedestrian meets the preset requirement, the movement direction angle value of the target pedestrian may be directly compared with the preset angle threshold, and the movement direction angle value is determined to meet the preset requirement when it is determined that the movement direction angle value is greater than the preset angle threshold.
Specifically, when S102 is executed to obtain the movement intention of the target pedestrian according to the traffic light information of the corresponding target pedestrian, the embodiment may adopt an optional implementation manner as follows: and in the case that the traffic light information is determined to be the red light, the road is not crossed as the movement intention of the target pedestrian, otherwise, the road is crossed as the movement intention of the target pedestrian.
That is to say, the embodiment obtains the movement intention of the target pedestrian through the traffic light information, achieves the purpose of estimating the movement intention of the static pedestrian crossing the road, and avoids the problem that the movement intention of the target pedestrian cannot be obtained under the condition that the movement information of the target pedestrian cannot be obtained, so that the success rate and the accuracy in estimating the movement intention of the target pedestrian are improved.
Preferably, if the motion information and the traffic light information of the corresponding target pedestrian are obtained in step S101, in this embodiment, when step S102 is executed, the motion intention of the target pedestrian is obtained according to the motion information and the traffic light information of the corresponding target pedestrian at the same time, that is, the embodiment can perform dynamic analysis and static analysis on the target pedestrian intending to cross the road, so as to further improve the accuracy of the determined motion intention and avoid traffic accidents.
It is understood that, if the present embodiment obtains different movement intentions according to the movement information and the traffic light information when executing S102, the crossing road may be used as the movement intention of the target pedestrian, or the movement intention obtained according to the movement information may be used as the movement intention of the target pedestrian.
After S102 is executed to obtain the movement intention of the target pedestrian, S103 is executed to generate a pedestrian avoidance scheme according to the movement intention of the target pedestrian.
Since the present embodiment will obtain two different movement intentions of the target pedestrian crossing the road or not crossing the road when executing S102, the present embodiment will generate different pedestrian avoidance schemes according to the different intentions when executing S103.
It can be understood that, if the present embodiment executes S102 to acquire the movement intentions of a plurality of target pedestrians, and the acquired movement intentions include both the movement intention crossing the road and the movement intention not crossing the road, when executing S103 to generate a pedestrian avoidance scheme according to the movement intentions of the target pedestrians, the present embodiment generates a pedestrian avoidance scheme according to the movement intention crossing the road, further avoids occurrence of a traffic accident, and improves safety of vehicle driving.
In the embodiment, when S103 is executed to generate a pedestrian avoidance scheme according to the movement intention of the target pedestrian, the optional implementation manner that can be adopted is as follows: and in the case that the movement of the target pedestrian is determined to be across the road, generating a pedestrian avoidance scheme for keeping the current lane driving and reducing the driving speed.
That is to say, after it is determined that the movement intention of the target pedestrian crosses the road, the embodiment generates the driving scheme that the current driving direction is maintained and the vehicle decelerates and crawls to avoid the pedestrian, thereby avoiding the problem of traffic accidents caused by the vehicle detouring or the vehicle too fast driving speed, and achieving the purpose of avoiding the pedestrian crossing the road and invading the current lane of the vehicle in time.
In the embodiment, when S103 is executed to generate a pedestrian avoidance scheme according to the movement intention of the target pedestrian, the optional implementation manner that can be adopted is as follows: generating a detour path in the event that it is determined that the movement of the target pedestrian is intended not to cross the road; and taking the generated detour path as a scheme for avoiding the pedestrian.
That is, the present embodiment generates a travel plan of a detour path to avoid the pedestrian after determining that the movement of the target pedestrian intends not to cross the road, thereby changing the current travel direction of the vehicle and achieving the purpose of effectively avoiding the pedestrian in a stationary state.
In this embodiment, when executing S103 to generate the detour path, the optional implementation manner that can be adopted is: obtaining path boundary constraints according to the positions of the target pedestrians and the preset safety distance, and if a plurality of target pedestrians exist, obtaining path boundary constraints according to the positions of the target pedestrians closest to the vehicle and the preset safety distance; and generating a detour path according to the central line of the current lane and the obtained path boundary constraint.
In the embodiment, when S103 is executed to generate a detour path according to the center line of the current lane and the obtained path boundary constraint, the obtained path boundary constraint may be added to each sampling point when the center line of the current lane is sampled at certain time intervals, and then the detour path may be generated according to the sampling points to which the path boundary constraint is added.
Fig. 2 is a schematic diagram according to a second embodiment of the present disclosure. As shown in fig. 2, when S102 "obtaining the movement intention of the target pedestrian according to the traffic light information of the corresponding target pedestrian" is executed, the embodiment specifically includes the following steps:
s201, in response to the fact that a target pedestrian exists in front of a vehicle, controlling the vehicle to stop, and displaying prompt content on a vehicle body of the vehicle;
s202, obtaining the static time of waiting the target pedestrian to pass but the target pedestrian after the vehicle stops;
s203, when the traffic signal light information is determined to be green light and the static time exceeds a preset time threshold value, the crossing of the road is not taken as the movement intention of the target pedestrian, otherwise, the crossing of the road is taken as the movement intention of the target pedestrian.
That is, in the embodiment, when the movement intention of the target pedestrian is obtained according to the traffic light information, the stationary time of the target pedestrian can be obtained by displaying the prompt content on the vehicle body of the vehicle, and then the movement intention of the target pedestrian is obtained according to the traffic light information and the stationary time, so that the accuracy in estimating the movement intention of the stationary pedestrian can be improved.
The prompt content displayed when S201 is executed in this embodiment may be preset, for example, the prompt content displayed when S201 is executed in this embodiment is contents such as "please advance pedestrians", "pedestrians pass with priority", and the like.
When the prompt content is displayed on the body of the vehicle in S201, the prompt content may be displayed at a preset position of the body of the vehicle, for example, the preset position of the body may be an LED sign mounted on the roof of the vehicle, and the preset position of the body may also be a front windshield of the vehicle.
Fig. 3 is a schematic diagram according to a third embodiment of the present disclosure. Fig. 3 shows a schematic diagram of the present embodiment in inferring the intention of movement of a dynamic pedestrian: the arrows in fig. 3 indicate the moving direction of the target pedestrian; α in fig. 3 represents an angle between the target lane line and the moving direction of the target pedestrian.
Fig. 4 is a schematic diagram according to a fourth embodiment of the present disclosure. In fig. 4, the scheme of avoiding pedestrians generated by the present embodiment according to the movement intention of crossing roads is shown: the dotted boxes in fig. 4 represent crosswalks, the arrows on the vehicle represent the traveling direction of the vehicle (keeping the current lane traveling), the dotted lines in the middle of the lane represent the lane center lines, and the arrows on the target pedestrians represent the moving direction of the target pedestrians.
Fig. 5 is a schematic diagram according to a fifth embodiment of the present disclosure. Fig. 5 shows a pedestrian avoidance scheme generated by the present embodiment according to the movement intention of not crossing the road: the dashed boxes in fig. 5 represent crosswalks, the two dashed lines on the vehicle represent the detour path, the dashed line in the middle of the lane represents the lane centerline, and the target pedestrian is at rest.
Fig. 6 is a schematic diagram according to a sixth embodiment of the present disclosure. As shown in fig. 6, the apparatus 600 for avoiding a pedestrian in the automatic driving of the present embodiment includes:
the acquiring unit 601 is used for responding to the detection that a target pedestrian exists in front of the vehicle, and acquiring motion information and/or traffic signal light information corresponding to the target pedestrian;
the processing unit 602 is configured to obtain a movement intention of the target pedestrian according to the movement information and/or traffic light information corresponding to the target pedestrian;
and the avoidance unit 603 is configured to generate a pedestrian avoidance scheme according to the movement intention of the target pedestrian.
The motion information of the corresponding target pedestrian acquired by the acquisition unit 601 includes the motion direction of the target pedestrian, and further includes information such as the position of the target pedestrian, the motion speed of the target pedestrian, and the like.
The acquisition unit 601, when acquiring motion information, senses the surrounding environment through a sensing module on the vehicle to detect a pedestrian, thereby acquiring information such as the position, the motion speed and the like of a target pedestrian output by the sensing module; the information such as the position, the movement speed and the like of the target pedestrian is predicted through a prediction module on the vehicle, so that the movement direction of the target pedestrian output by the prediction module is obtained.
The traffic light information of the corresponding target pedestrian acquired by the acquisition unit 601 is specifically traffic light information of a pedestrian crossing where the target pedestrian is located when crossing the road, and the traffic light information of the corresponding target pedestrian is one of a red light and a green light.
When acquiring traffic light information, the acquisition unit 601 senses the surrounding environment through a sensing module on the vehicle to detect the traffic light, so as to acquire the traffic light information of the pedestrian crosswalk where the target pedestrian is located when crossing the road, which is output by the sensing module.
That is to say, the obtaining unit 601 can obtain the relevant information of the corresponding target pedestrian to avoid the pedestrian according to any scene when the pedestrian crosses the road with or without the traffic light, so as to avoid the occurrence of traffic accidents and further improve the driving safety of the vehicle.
When detecting whether the target pedestrian exists in front of the vehicle, the obtaining unit 601 may adopt alternative implementations as follows: detecting a pedestrian in front of the vehicle; in a case where it is determined that the detected pedestrian is located in a preset range in front of the vehicle, the detected pedestrian is taken as a target pedestrian.
That is to say, the obtaining unit 601 determines whether the pedestrian in front of the vehicle is the target pedestrian according to the preset range, so that the pedestrian with an excessively long distance is prevented from being avoided as the target pedestrian to be avoided, and therefore the detection accuracy of the target pedestrian and the effectiveness of the generated pedestrian avoidance scheme are improved.
It is understood that the number of target pedestrians detected by the obtaining unit 601 may be one or more; if a plurality of target pedestrians are detected, the obtaining unit 601 obtains motion information and/or traffic light information corresponding to each target pedestrian respectively.
After the motion information and/or traffic light information of the corresponding target pedestrian is acquired by the acquisition unit 601, the motion intention of the target pedestrian is obtained by the processing unit 602 according to the motion information and/or traffic light information of the corresponding target pedestrian.
Similarly, if the acquiring unit 601 acquires the motion information and/or traffic light information corresponding to a plurality of target pedestrians, the processing unit 602 obtains the motion intention of each target pedestrian according to the motion information and/or traffic light information corresponding to each target pedestrian.
Specifically, when the processing unit 602 obtains the movement intention of the target pedestrian according to the movement information of the corresponding target pedestrian, the optional implementation manners that can be adopted are as follows: determining a target lane line corresponding to a target pedestrian when crossing a road; taking the angle value of an included angle between the determined target lane line and the moving direction of the target pedestrian as the moving direction angle value of the target pedestrian; and under the condition that the movement direction angle value of the target pedestrian meets the preset requirement, taking the crossing road as the movement intention of the target pedestrian, otherwise, not crossing the road as the movement intention of the target pedestrian.
That is, the processing unit 602 obtains the movement intention of the target pedestrian through the movement direction of the target pedestrian crossing the road and the target lane line, and achieves the purpose of estimating the movement intention of the dynamic pedestrian crossing the road, thereby improving the accuracy of the obtained movement intention.
When determining the target lane line corresponding to the target pedestrian crossing the road, the processing unit 602 may set, as the target lane line, a lane line closest to the target pedestrian, among lane lines on both sides of a current lane on which the vehicle is traveling, according to the position of the target pedestrian.
When determining whether the motion direction angle value of the target pedestrian meets the preset requirement, the processing unit 602 may adopt an optional implementation manner as follows: acquiring an angle value range corresponding to a target lane line; and under the condition that the determined movement direction angle value is within the acquired angle value range, determining that the movement direction angle value meets the preset requirement.
That is to say, the processing unit 602 determines whether the angle value of the moving direction of the target pedestrian meets the preset requirement by presetting the angle value ranges corresponding to different lane lines, so as to improve the accuracy of the determined moving intention of the target pedestrian.
When determining whether the movement direction angle value of the target pedestrian meets the preset requirement, the processing unit 602 may also directly compare the movement direction angle value of the target pedestrian with a preset angle threshold, and determine that the movement direction angle value meets the preset requirement when determining that the movement direction angle value is greater than the preset angle threshold.
Specifically, when the processing unit 602 obtains the movement intention of the target pedestrian according to the traffic light information of the corresponding target pedestrian, the optional implementation manners that can be adopted are as follows: and in the case that the traffic light information is determined to be the red light, the road is not crossed as the movement intention of the target pedestrian, otherwise, the road is crossed as the movement intention of the target pedestrian.
That is to say, the processing unit 602 obtains the movement intention of the target pedestrian through the traffic light information, so that the purpose of estimating the movement intention of a static pedestrian crossing a road is achieved, the problem that the movement intention of the target pedestrian cannot be obtained under the condition that the movement information of the target pedestrian cannot be obtained is avoided, and the success rate and the accuracy in estimating the movement intention of the target pedestrian are improved.
Preferably, if the obtaining unit 601 obtains the motion information and the traffic light information of the corresponding target pedestrian, the processing unit 602 obtains the motion intention of the target pedestrian according to the motion information and the traffic light information of the corresponding target pedestrian at the same time, that is, the embodiment can perform dynamic analysis and static analysis on the target pedestrian intending to cross the road, thereby further improving the accuracy of the determined motion intention and avoiding a traffic accident.
It is understood that the processing unit 602 obtains different movement intentions according to the movement information and the traffic light information, and may use crossing the road as the movement intention of the target pedestrian, or may use the movement intention obtained according to the movement information as the movement intention of the target pedestrian.
When the processing unit 602 obtains the movement intention of the target pedestrian according to the traffic light information of the corresponding target pedestrian, the following method may also be adopted: in response to detecting that a target pedestrian exists in front of the vehicle, controlling the vehicle to stop, and displaying prompt content on a body of the vehicle; obtaining the static time of waiting for the target pedestrian to pass but the target pedestrian after the vehicle stops; and in the case that the traffic signal light information is determined to be green light and the stationary time exceeds a preset time threshold value, not crossing the road as the movement intention of the target pedestrian, and otherwise crossing the road as the movement intention of the target pedestrian.
That is, when the movement intention of the target pedestrian is obtained from the traffic light information, the processing unit 602 may further obtain the stationary time of the target pedestrian by displaying the prompt content on the vehicle body of the vehicle, and further obtain the movement intention of the target pedestrian from the traffic light information and the stationary time, which can improve the accuracy in estimating the movement intention of the stationary pedestrian.
The prompting content displayed by the processing unit 602 may be preset, for example, the prompting content displayed by the processing unit 602 is "please go ahead by pedestrian", "pedestrian passes through with priority", or the like.
When the processing unit 602 displays the guidance content on the body of the vehicle, the guidance content may be displayed at a preset position of the body of the vehicle.
After the processing unit 602 obtains the movement intention of the target pedestrian, the embodiment generates an avoidance pedestrian scheme according to the movement intention of the target pedestrian by the avoidance unit 603.
Since the processing unit 602 obtains two different movement intentions of the target pedestrian crossing the road or not crossing the road, the avoidance unit 603 generates different schemes for avoiding the pedestrian according to the different intentions.
It can be understood that, if the processing unit 602 acquires the movement intentions of a plurality of target pedestrians, and the acquired movement intentions include both a movement intention crossing a road and a movement intention not crossing the road, the avoidance unit 603 generates a pedestrian avoidance scheme according to the movement intention crossing the road when generating the pedestrian avoidance scheme according to the movement intentions of the target pedestrians, further avoiding a traffic accident, and improving the safety of vehicle driving.
When the avoidance unit 603 generates a pedestrian avoidance scheme according to the movement intention of the target pedestrian, the optional implementation manner that can be adopted is as follows: and in the case that the movement of the target pedestrian is determined to be across the road, generating a pedestrian avoidance scheme for keeping the current lane driving and reducing the driving speed.
That is to say, after determining that the movement intention of the target pedestrian is to cross the road, the avoidance unit 603 generates a driving scheme for keeping the current driving direction and decelerating and slowing to avoid the pedestrian, so as to avoid the problem of traffic accidents caused by the vehicle detouring or the too high driving speed of the vehicle, thereby achieving the purpose of timely avoiding the pedestrian crossing the road and invading the current lane of the vehicle.
When the avoidance unit 603 generates a pedestrian avoidance scheme according to the movement intention of the target pedestrian, the optional implementation manner that can be adopted is as follows: generating a detour path in the event that it is determined that the movement of the target pedestrian is intended not to cross the road; and taking the generated detour path as a scheme for avoiding the pedestrian.
That is, the avoidance unit 603 generates a travel plan of a detour path to avoid the pedestrian after determining that the movement of the target pedestrian intends not to cross the road, thereby changing the current travel direction of the vehicle and achieving the purpose of effectively avoiding the pedestrian in a stationary state.
When the avoidance unit 603 generates the detour path, the optional implementation manner that can be adopted is as follows: obtaining path boundary constraint according to the position of the target pedestrian and a preset safety distance; and generating a detour path according to the central line of the current lane and the obtained path boundary constraint.
The avoidance unit 603 may add the obtained path boundary constraint to each sampling point when sampling the center line of the current lane at a certain time interval when generating the detour path according to the center line of the current lane and the obtained path boundary constraint, and further generate the detour path according to the sampling point to which the path boundary constraint is added.
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.
As shown in fig. 7, is a block diagram of an electronic device of a method of avoiding a pedestrian in autonomous driving according to an embodiment 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. 7, the device 700 comprises a computing unit 701, which may perform various suitable actions and processes according to a computer program stored in a Read Only Memory (ROM)702 or a computer program loaded from a storage unit 708 into a Random Access Memory (RAM) 703. In the RAM703, various programs and data required for the operation of the device 700 can also be stored. The computing unit 701, the ROM702, and the RAM703 are connected to each other by a bus 704. An input/output (I/O) interface 705 is also connected to bus 704.
Various components in the device 700 are connected to the I/O interface 705, including: an input unit 706 such as a keyboard, a mouse, or the like; an output unit 707 such as various types of displays, speakers, and the like; a storage unit 708 such as a magnetic disk, optical disk, or the like; and a communication unit 709 such as a network card, modem, wireless communication transceiver, etc. The communication unit 709 allows the device 700 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
In some embodiments, part or all of a computer program may be loaded onto and/or installed onto device 700 via ROM702 and/or communications unit 709. When loaded into RAM703 and executed by the computing unit 701, may perform one or more of the steps of the method of avoiding pedestrians in autonomous driving described above. Alternatively, in other embodiments, the computing unit 701 may be configured in any other suitable manner (e.g., by means of firmware) to perform a method of avoiding pedestrians in autonomous driving.
Various implementations of the systems and techniques described here can be realized 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), Complex 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 can be a cloud Server, also called a cloud computing Server or a cloud host, and is a host product in a cloud computing service system, so as to solve the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service ("Virtual Private Server", or simply "VPS"). The server may also be a server of a distributed system, or a server incorporating a blockchain.
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 or sequentially or in different orders, and are not limited herein as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved.
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 (21)
1. A method of avoiding a pedestrian in autonomous driving, comprising:
in response to detecting that a target pedestrian exists in front of a vehicle, acquiring motion information and/or traffic light information corresponding to the target pedestrian;
obtaining the movement intention of the target pedestrian according to the movement information and/or traffic signal lamp information corresponding to the target pedestrian;
and generating a pedestrian avoidance scheme according to the movement intention of the target pedestrian.
2. The method of claim 1, wherein detecting the presence of the target pedestrian in front of the vehicle comprises:
detecting a pedestrian in front of the vehicle;
and in the case that the detected pedestrian is determined to be located in a preset range in front of the vehicle, taking the detected pedestrian as the target pedestrian.
3. The method according to any one of claims 1-2, wherein the deriving the movement intention of the target pedestrian according to the movement information corresponding to the target pedestrian comprises:
determining a target lane line corresponding to the target pedestrian when crossing the road;
taking the angle value of an included angle between the target lane line and the moving direction of the target pedestrian as the moving direction angle value of the target pedestrian;
and taking the crossing road as the movement intention of the target pedestrian when the movement direction angle value of the target pedestrian is determined to meet the preset requirement, and otherwise, not crossing the road as the movement intention of the target pedestrian.
4. The method of claim 3, wherein the determining that the angle of direction of motion value of the target pedestrian satisfies a preset requirement comprises:
acquiring an angle value range corresponding to the target lane line;
and under the condition that the movement direction angle value of the target pedestrian is determined to be within the angle value range, determining that the movement direction angle value of the target pedestrian meets a preset requirement.
5. The method according to any one of claims 1-4, wherein the deriving the movement intention of the target pedestrian according to traffic light information corresponding to the target pedestrian comprises:
and in the case that the traffic signal light information is determined to be the red light, not crossing the road as the movement intention of the target pedestrian, and otherwise crossing the road as the movement intention of the target pedestrian.
6. The method according to any one of claims 1-4, wherein the deriving the movement intention of the target pedestrian according to the traffic light information corresponding to the target pedestrian comprises:
in response to detecting that a target pedestrian exists in front of a vehicle, controlling the vehicle to stop, and displaying prompt content on a body of the vehicle;
obtaining the static time of the vehicle waiting for the target pedestrian to pass but the target pedestrian after parking;
and if the traffic signal light information is determined to be green light and the static time exceeds a preset time threshold, not crossing the road as the movement intention of the target pedestrian, and otherwise crossing the road as the movement intention of the target pedestrian.
7. The method according to any one of claims 1-6, wherein the generating a pedestrian avoidance maneuver according to the intended movement of the target pedestrian comprises:
and in the case that the movement of the target pedestrian is determined to be across the road, generating a pedestrian avoidance scheme for keeping the current lane driving and reducing the driving speed.
8. The method according to any one of claims 1-6, wherein the generating a pedestrian avoidance maneuver according to the intended movement of the target pedestrian comprises:
generating a detour path in the event that it is determined that the movement of the target pedestrian is intended not to traverse a road;
and taking the detour path as the scheme for avoiding the pedestrians.
9. The method of claim 8, wherein the generating a detour path comprises:
obtaining path boundary constraint according to the position of the target pedestrian and a preset safety distance;
and generating the detour path according to the central line of the current lane and the path boundary constraint.
10. An apparatus for avoiding a pedestrian in autonomous driving, comprising:
the acquiring unit is used for responding to the detection that a target pedestrian exists in front of the vehicle and acquiring motion information and/or traffic signal lamp information corresponding to the target pedestrian;
the processing unit is used for obtaining the movement intention of the target pedestrian according to the movement information and/or traffic signal lamp information corresponding to the target pedestrian;
and the avoidance unit is used for generating a pedestrian avoidance scheme according to the movement intention of the target pedestrian.
11. The apparatus according to claim 10, wherein the acquisition unit, when detecting that the target pedestrian exists ahead of the vehicle, specifically performs:
detecting a pedestrian in front of the vehicle;
and in the case that the detected pedestrian is determined to be located in a preset range in front of the vehicle, taking the detected pedestrian as the target pedestrian.
12. The device according to any one of claims 10 to 11, wherein the processing unit, when obtaining the movement intention of the target pedestrian according to the movement information corresponding to the target pedestrian, specifically performs:
determining a target lane line corresponding to the target pedestrian when crossing the road;
taking the angle value of an included angle between the target lane line and the moving direction of the target pedestrian as the moving direction angle value of the target pedestrian;
and taking the crossing road as the movement intention of the target pedestrian when the movement direction angle value of the target pedestrian is determined to meet the preset requirement, and otherwise, not crossing the road as the movement intention of the target pedestrian.
13. The device according to claim 12, wherein the processing unit, when determining that the angle value of the moving direction of the target pedestrian meets a preset requirement, specifically performs:
acquiring an angle value range corresponding to the target lane line;
and under the condition that the movement direction angle value of the target pedestrian is determined to be within the angle value range, determining that the movement direction angle value of the target pedestrian meets a preset requirement.
14. The device according to any one of claims 10 to 13, wherein the processing unit, when obtaining the movement intention of the target pedestrian according to the traffic light information corresponding to the target pedestrian, specifically performs:
and in the case that the traffic signal light information is determined to be the red light, not crossing the road as the movement intention of the target pedestrian, and otherwise crossing the road as the movement intention of the target pedestrian.
15. The apparatus according to any one of claims 10-13, wherein the processing unit is configured to derive the movement intention of the target pedestrian according to traffic light information corresponding to the target pedestrian, and comprises:
in response to detecting that a target pedestrian exists in front of a vehicle, controlling the vehicle to stop, and displaying prompt content on a body of the vehicle;
obtaining the static time of the vehicle waiting for the target pedestrian to pass but the target pedestrian after parking;
and if the traffic signal light information is determined to be green light and the static time exceeds a preset time threshold, not crossing the road as the movement intention of the target pedestrian, and otherwise crossing the road as the movement intention of the target pedestrian.
16. The apparatus according to any one of claims 10 to 15, wherein the avoidance unit, when generating an avoidance pedestrian scheme according to the movement intention of the target pedestrian, specifically performs:
and in the case that the movement of the target pedestrian is determined to be across the road, generating a pedestrian avoidance scheme for keeping the current lane driving and reducing the driving speed.
17. The apparatus according to any one of claims 10 to 15, wherein the avoidance unit, when generating an avoidance pedestrian scheme according to the movement intention of the target pedestrian, specifically performs:
generating a detour path in the event that it is determined that the movement of the target pedestrian is intended not to traverse a road;
and taking the detour path as the scheme for avoiding the pedestrians.
18. The apparatus according to claim 17, wherein the avoidance unit, when generating the detour path, specifically performs:
obtaining path boundary constraint according to the position of the target pedestrian and a preset safety distance;
and generating the detour path according to the central line of the current lane and the path boundary constraint.
19. 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 1-9.
20. 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 1-9.
21. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any one of claims 1-9.
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