CN114379587B - Method and device for avoiding pedestrians in automatic driving - Google Patents
Method and device for avoiding pedestrians in automatic driving Download PDFInfo
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- CN114379587B CN114379587B CN202111623689.XA CN202111623689A CN114379587B CN 114379587 B CN114379587 B CN 114379587B CN 202111623689 A CN202111623689 A CN 202111623689A CN 114379587 B CN114379587 B CN 114379587B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
- B60W60/0017—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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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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
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Abstract
The disclosure provides a method, a device, electronic equipment and a readable storage medium for avoiding pedestrians in automatic driving, and relates to the technical field of artificial intelligence such as automatic driving and intelligent traffic. The method for avoiding pedestrians 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 signal lamp 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 of the corresponding target pedestrian; and generating a scheme for avoiding the pedestrians according to the movement intention of the target pedestrians. The method and the device can enable the vehicle to reasonably avoid pedestrians crossing the road, so that the safety of the vehicle in automatic driving is improved.
Description
Technical Field
The disclosure relates to the technical field of data processing, in particular to the technical field of artificial intelligence such as automatic driving and intelligent traffic. The method, the device, the electronic equipment and the readable storage medium for avoiding pedestrians in automatic driving are particularly provided.
Background
In the running process of the automatic driving vehicle, a running path is planned for the automatic driving vehicle, so that the automatic driving vehicle can run according to the running path. However, during the actual running of the autonomous vehicle, pedestrians often occur, and the movement of the pedestrians affects the running 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 and the running track of the automatic driving vehicle have a junction point or not is judged to avoid, but the problems that the distance judgment is inaccurate, the pedestrian track judgment is inaccurate 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 pedestrians in automatic driving, comprising: in response to detecting that a target pedestrian exists in front of a vehicle, acquiring motion information and/or traffic signal lamp 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 of the corresponding target pedestrian; and generating a scheme for avoiding the pedestrians according to the movement intention of the target pedestrians.
According to a second aspect of the present disclosure, there is provided an apparatus for avoiding pedestrians in automatic driving, comprising: the system comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring motion information and/or traffic signal lamp information corresponding to a target pedestrian in front of a vehicle in response to detecting the existence of 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; the avoidance unit is used for generating a scheme for avoiding the pedestrians according to the movement intention of the target pedestrians.
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 storing computer instructions for causing the computer to perform the method as described above.
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 a method as described above.
According to the technical scheme, the problem that pedestrians cannot be timely avoided due to the fact that the pedestrians suddenly start to cross the road or the prediction of the motion speed of the pedestrians is inaccurate can be effectively avoided by estimating the motion intention of the pedestrians, so that the pedestrians crossing the road can be reasonably avoided by the vehicle, and the safety of the vehicle in automatic driving is improved.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the disclosure, nor is it intended to be used to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following specification.
Drawings
The drawings are for 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 pedestrian avoidance in autopilot in accordance with an embodiment of the present disclosure.
Detailed Description
Exemplary embodiments of the present disclosure are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding, and should be considered as merely exemplary. Accordingly, one 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 in this embodiment specifically includes the following steps:
S101, in response to detection of existence of a target pedestrian in front of a vehicle, acquiring motion information and/or traffic signal lamp information corresponding to the target pedestrian;
S102, obtaining the movement intention of the target pedestrian according to the movement information and/or traffic signal lamp information of the target pedestrian;
s103, generating a scheme for avoiding the pedestrians according to the movement intention of the target pedestrians.
According to the method for avoiding pedestrians in automatic driving, after the existence of the target pedestrians in front of the vehicle is detected, the motion information and/or traffic signal lamp information of the corresponding target pedestrians are firstly obtained, then the motion intention of the target pedestrians is obtained according to the motion information and/or the traffic signal lamp information, and finally a pedestrian avoiding scheme is generated according to the motion intention of the target pedestrians.
The execution body of the embodiment is located in a vehicle, for example, a planning module for path planning or a control module for controlling running of the vehicle in the vehicle, and the vehicle in the embodiment is a vehicle with an automatic driving capability.
The motion information of the corresponding target pedestrian acquired in S101 includes the motion direction of the target pedestrian, and further includes information such as the position of the target pedestrian and the motion speed of the target pedestrian.
When executing S101, the present embodiment senses the surrounding environment through the sensing module on the vehicle to detect the pedestrian, thereby obtaining the information such as the position, the movement speed, etc. of the target pedestrian output by the sensing module; and predicting the position, the movement speed and other information of the target pedestrian by a prediction module on the vehicle, so as to acquire the movement direction of the target pedestrian output by the prediction module.
The embodiment executes the traffic light information of the corresponding target pedestrian acquired in S101, specifically, the traffic light information of the crosswalk where the target pedestrian is located when crossing the road, where the traffic light information of the corresponding target pedestrian is one of red light and green light.
In the embodiment, when S101 is executed, the sensing module on the vehicle senses the surrounding environment to detect the traffic signal, so as to obtain the traffic signal information of the crosswalk where the target pedestrian is located when crossing the road, which is output by the sensing module.
That is, according to the embodiment, the related information of the corresponding target pedestrians can be acquired to avoid the pedestrians aiming at any scene of the pedestrians when the pedestrians cross the road with or without traffic lights, so that traffic accidents are avoided, and the driving safety of the vehicles is further improved.
In the embodiment, when S101 is executed to detect whether a target pedestrian exists in front of the vehicle, the following optional implementation manner may be adopted: pedestrian detection is performed in front of the vehicle, for example, in front of a current lane in which the vehicle is traveling; in the case where it is determined that the detected pedestrian is located in the preset range in front of the vehicle, the detected pedestrian is taken as the target pedestrian.
That is, the present embodiment determines whether the pedestrian in front of the vehicle is the target pedestrian through the preset range, and avoids avoidance of the pedestrian that is too far away as the target pedestrian, thereby improving the detection accuracy of the target pedestrian and the effectiveness of the generated pedestrian avoidance scheme.
It can be understood that the number of the target pedestrians detected in the execution of S101 in this embodiment may be one or more; if a plurality of target pedestrians are detected, the embodiment executes S101 to acquire motion information and/or traffic light information corresponding to each target pedestrian, respectively.
In this embodiment, after executing S101 to obtain the motion information and/or traffic light information of the corresponding target pedestrian, executing S102 obtains 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 embodiment executes S101 to obtain the motion information and/or traffic light information of the corresponding multiple target pedestrians, the embodiment obtains the motion intention of each target pedestrian according to the motion information and/or traffic light information of each target pedestrian when executing S102.
Specifically, in the embodiment, when S102 is executed to obtain the movement intention of the target pedestrian according to the movement information of the corresponding target pedestrian, the following optional implementation manners may be adopted: determining a target lane line corresponding to a target pedestrian when crossing a road; the determined angle value of the included angle between the target lane line and the moving direction of the target pedestrian is used 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, taking the non-crossing road as the movement intention of the target pedestrian.
That is, the present embodiment obtains the movement intention of the target pedestrian through the movement direction of the target pedestrian when 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.
In the present embodiment, when S102 is executed to determine the target lane line corresponding to the target pedestrian when traversing the road, the lane line closest to the target pedestrian from the lane lines on both sides of the current lane in which the vehicle is traveling may be taken as the target lane line 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 present embodiment takes the right lane line as the target lane line when executing S102; if the target pedestrian crosses the road from the left side of the vehicle, the present embodiment takes the left lane line as the target lane line when executing S102.
In the implementation of S102 in this embodiment, when determining whether the movement direction angle value of the target pedestrian meets the preset requirement, the optional implementation manner may be: 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 the theta is a preset angle threshold; and under the condition that the angle value of the movement direction is determined to be within the acquired angle value range, determining that the angle value of the movement direction meets the preset requirement.
That is, in this embodiment, whether the movement direction angle value of the target pedestrian meets the preset requirement is determined by presetting the angle value ranges corresponding to different lane lines, so that the accuracy of the determined movement intention of the target pedestrian is improved.
In the embodiment, when executing S102 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 also be directly compared with the preset angle threshold, and if it is determined that the movement direction angle value is greater than the preset angle threshold, it is determined that the movement direction angle value meets the preset requirement.
Specifically, in the embodiment, 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 following optional implementation manner may be adopted: in the case where the traffic signal information is determined to be red light, the road is not traversed as the movement intention of the target pedestrian, otherwise the road is traversed as the movement intention of the target pedestrian.
That is, the present embodiment obtains the movement intention of the target pedestrian through the traffic light information, thereby achieving the purpose of estimating the movement intention of the static pedestrian crossing the road, avoiding 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, and improving the success rate and the accuracy when the movement intention of the target pedestrian is estimated.
Preferably, if the motion information and the traffic light information of the corresponding target pedestrian are obtained in step S101, 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 when step S102 is executed in this embodiment, that is, the embodiment can perform dynamic analysis and static analysis on the target pedestrian which is intended to cross the road, thereby further improving the accuracy of the determined motion intention and avoiding traffic accidents.
It is to be understood that, if the present embodiment obtains different movement intentions according to the movement information and the traffic light information when S102 is performed, the movement intentions of the target pedestrian may be the movement intentions of the target pedestrian crossing the road, or the movement intentions obtained according to the movement information may be the movement intentions of the target pedestrian.
In this embodiment, after the step S102 is performed to obtain the movement intention of the target pedestrian, the step S103 is performed to generate a pedestrian avoidance scheme according to the movement intention of the target pedestrian.
Since the present embodiment obtains two different movement intentions of the target pedestrian crossing the road or not crossing the road when S102 is performed, the present embodiment generates different pedestrian avoidance schemes according to the different intentions when S103 is performed.
It can be understood that, if the embodiment executes S102 to obtain the movement intentions of the plurality of target pedestrians, and the obtained movement intentions include the movement intentions crossing the road and the movement intentions not crossing the road, the embodiment generates the pedestrian avoidance scheme according to the movement intentions crossing the road when executing S103 to generate the pedestrian avoidance scheme according to the movement intentions of the target pedestrians, thereby further avoiding the occurrence of traffic accidents and improving the driving safety of the vehicle.
In the embodiment, when executing S103 to generate a scheme for avoiding pedestrians according to the movement intention of the target pedestrians, the following optional implementation modes may be adopted: in the case where it is determined that the movement intention of the target pedestrian is to cross the road, a pedestrian avoidance scheme that keeps the current lane running and reduces the running speed is generated.
That is, in this embodiment, after determining that the movement intention of the target pedestrian is crossing the road, a running scheme that keeps the current running direction and slows down is generated to avoid the pedestrian, so as to avoid the problem that the vehicle bypasses the running or the running speed of the vehicle is too fast to cause a traffic accident, thereby achieving the purpose of timely avoiding the pedestrian crossing the road and invading the current lane of the vehicle.
In the embodiment, when executing S103 to generate a scheme for avoiding pedestrians according to the movement intention of the target pedestrians, the following optional implementation modes may be adopted: generating a detour path in the event that it is determined that the movement of the target pedestrian is intended not to traverse the road; and taking the generated detour path as a scheme for avoiding pedestrians.
That is, the present embodiment generates a travel plan of a detour path to avoid pedestrians after determining that the movement intention of the target pedestrian is not to cross the road, thereby changing the current travel direction of the vehicle, and achieving the purpose of effectively avoiding pedestrians in a stationary state.
In this embodiment, when executing S103 to generate the bypass path, the optional implementation manner may be: obtaining a path boundary constraint according to the position of the target pedestrian and a preset safety distance, and if a plurality of target pedestrians exist, obtaining the path boundary constraint according to the position of the target pedestrian closest to the vehicle and the preset safety distance in the embodiment; and generating a detour path according to the central line of the current lane and the obtained path boundary constraint.
In the embodiment, when executing S103 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 sampling the center line of the current lane at a certain time interval, and then the detour path may be generated according to the sampling point 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 executing S102 "obtain the movement intention of the target pedestrian according to the traffic light information of the corresponding target pedestrian", the present embodiment specifically includes the following steps:
S201, in response to detection of existence of a target pedestrian in front of a vehicle, controlling the vehicle to stop, and displaying prompt contents on a vehicle body of the vehicle;
s202, obtaining the stationary time of the target pedestrian while waiting for the target pedestrian to pass after the vehicle is parked;
And S203, under the condition that the traffic signal lamp information is determined to be green, and the rest time exceeds a preset time threshold, taking a non-crossing road as the movement intention of the target pedestrian, otherwise taking a crossing road as the movement intention of the target pedestrian.
That is, when the movement intention of the target pedestrian is obtained according to the traffic light information, the resting time of the target pedestrian can be obtained by displaying the prompt content on the body of the vehicle, and further the movement intention of the target pedestrian is obtained according to the traffic light information and the resting time, so that the accuracy in estimating the movement intention of the static pedestrian can be improved.
The prompt content displayed in the embodiment when S201 is executed may be preset, for example, the prompt content displayed in the embodiment when S201 is executed is such as "please walk ahead", "pedestrian walk ahead", or the like.
When the embodiment executes S201 to display the prompt content on the vehicle body of the vehicle, the prompt content may be displayed at a preset position of the vehicle body, for example, the preset position of the vehicle body may be an LED sign mounted on the roof, and the preset position of the vehicle 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 when motion intention of a dynamic pedestrian is presumed: the arrow in fig. 3 indicates the movement direction of the target pedestrian; alpha in fig. 3 represents the angle between the target lane line and the direction of movement of the target pedestrian.
Fig. 4 is a schematic diagram according to a fourth embodiment of the present disclosure. The resulting pedestrian avoidance scheme of this embodiment, based on the intent of the movement across the road, is shown in fig. 4: the dashed box in fig. 4 represents a crosswalk, the arrow on the vehicle represents the traveling direction of the vehicle (keeping the current lane traveling), the dashed line in the middle of the lane represents the lane center line, and the arrow on the target pedestrian represents the moving direction of the target pedestrian.
Fig. 5 is a schematic diagram according to a fifth embodiment of the present disclosure. The resulting pedestrian avoidance scheme of this embodiment based on the intent of the motion not traversing the road is shown in fig. 5: the dashed box in fig. 5 represents a crosswalk, two dashed lines on the vehicle represent detour paths, 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 pedestrians in automatic driving of the present embodiment includes:
an obtaining unit 601, configured to obtain motion information and/or traffic light information corresponding to a target pedestrian in front of a vehicle in response to detecting the presence of the target pedestrian;
The processing unit 602 is configured to obtain a movement intention of the target pedestrian according to movement information and/or traffic signal light information corresponding to the target pedestrian;
the avoiding unit 603 is configured to generate a scheme for avoiding pedestrians 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.
When acquiring motion information, the acquisition unit 601 senses the surrounding environment through a sensing module on the vehicle to detect pedestrians, so as to acquire the position, the motion speed and other information of the target pedestrians output by the sensing module; and predicting the position, the movement speed and other information of the target pedestrian by a prediction module on the vehicle, so as to acquire the movement direction of the target pedestrian output by the prediction module.
The traffic light information of the corresponding target pedestrian, which is acquired by the acquiring unit 601, specifically, the traffic light information of the crosswalk where the target pedestrian is located when the target pedestrian crosses the road, and the traffic light information of the corresponding target pedestrian is one of red light and 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, thereby acquiring the traffic light information of the crosswalk where the target pedestrian is located when crossing the road, which is output by the sensing module.
That is, the acquiring unit 601 may acquire, for any scene of a pedestrian when the pedestrian crosses a road with or without a traffic light, related information of a corresponding target pedestrian to avoid the pedestrian, avoid occurrence of a traffic accident, and further improve safety of vehicle driving.
When the acquiring unit 601 detects whether a target pedestrian exists in front of the vehicle, the following alternative implementation manners may be adopted: pedestrian detection is carried out on the front of the vehicle; in the case where it is determined that the detected pedestrian is located in the preset range in front of the vehicle, the detected pedestrian is taken as the target pedestrian.
That is, the acquiring unit 601 determines whether the pedestrian in front of the vehicle is the target pedestrian through the set preset range, avoiding taking the pedestrian far away as the target pedestrian to avoid, thereby improving the detection accuracy of the target pedestrian and the effectiveness of the generated pedestrian avoidance scheme.
It may be understood that the number of the target pedestrians detected by the acquiring unit 601 may be one or more; if a plurality of target pedestrians are detected, the acquiring unit 601 acquires motion information and/or traffic signal information corresponding to each target pedestrian, respectively.
In this embodiment, after the obtaining unit 601 obtains the movement information and/or traffic light information of the corresponding target pedestrian, the processing unit 602 obtains the movement intention of the target pedestrian according to the movement information and/or traffic light information of the corresponding target pedestrian.
Similarly, if the acquiring unit 601 acquires the movement information and/or traffic light information corresponding to the plurality of target pedestrians, the processing unit 602 obtains the movement intention of each target pedestrian according to the movement 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 following optional implementation manners may be adopted: determining a target lane line corresponding to a target pedestrian when crossing a road; the determined angle value of the included angle between the target lane line and the moving direction of the target pedestrian is used 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, taking the non-crossing 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 when 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 use, as the target lane line, the lane line closest to the target pedestrian from the lane lines on both sides of the current lane where 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 the following alternative implementation modes: acquiring an angle value range corresponding to a target lane line; and under the condition that the angle value of the movement direction is determined to be within the acquired angle value range, determining that the angle value of the movement direction meets the preset requirement.
That is, the processing unit 602 determines whether the movement direction angle value of the target pedestrian meets the preset requirement by presetting the angle value ranges corresponding to different lane lines, thereby improving the accuracy of the determined movement intention of the target pedestrian.
The processing unit 602 may further directly compare the movement direction angle value of the target pedestrian with a preset angle threshold when determining whether the movement direction angle value of the target pedestrian meets the preset requirement, 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 following optional implementation manners may be adopted: in the case where the traffic signal information is determined to be red light, the road is not traversed as the movement intention of the target pedestrian, otherwise the road is traversed as the movement intention of the target pedestrian.
That is, the processing unit 602 obtains the movement intention of the target pedestrian through the traffic light information, thereby achieving the purpose of estimating the movement intention of the static pedestrian crossing the road, avoiding 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, and improving the success rate and the accuracy when the movement intention of the target pedestrian is estimated.
Preferably, if the acquiring unit 601 acquires the movement information and the traffic light information of the corresponding target pedestrian, the processing unit 602 obtains the movement intention of the target pedestrian according to the movement 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 which is intended to traverse the road, thereby further improving the accuracy of the determined movement intention and avoiding traffic accidents.
It may be appreciated that the processing unit 602 obtains different movement intentions according to the movement information and the traffic light information, and may use the movement intentions of the crossing road as the movement intentions of the target pedestrian, or may use the movement intentions obtained according to the movement information as the movement intentions of the target pedestrian.
The processing unit 602 may further use the following manner when obtaining the movement intention of the target pedestrian according to the traffic light information of the corresponding target pedestrian: in response to detecting that a target pedestrian exists in front of the vehicle, controlling the vehicle to stop, and displaying prompt contents on a body of the vehicle; after the vehicle is stopped, waiting for the stationary time of the target pedestrian to pass but the target pedestrian; and under the condition that the traffic signal lamp information is determined to be green, and the rest time exceeds the preset time threshold, taking the non-crossing road as the movement intention of the target pedestrian, otherwise taking the crossing road as the movement intention of the target pedestrian.
That is, when the processing unit 602 obtains the movement intention of the target pedestrian according to the traffic light information, the stationary time of the target pedestrian may be obtained by displaying the prompt content on the body of the vehicle, and further the movement intention of the target pedestrian may be obtained according to the traffic light information and the stationary time, so that the accuracy in estimating the movement intention of the stationary pedestrian may be improved.
The prompt content displayed by the processing unit 602 may be preset, for example, the prompt content displayed by the processing unit 602 is "please walk ahead", "walk ahead", and the like.
When the processing unit 602 displays the prompt content on the body of the vehicle, the prompt content may be displayed at a preset position of the body of the vehicle.
In this embodiment, after the processing unit 602 obtains the movement intention of the target pedestrian, the avoidance unit 603 generates a scheme for avoiding the pedestrian according to the movement intention of the target pedestrian.
Since the processing unit 602 obtains two different movement intentions that the target pedestrian crosses the road or does not cross the road, the avoidance unit 603 generates different schemes for avoiding the pedestrian according to different intentions.
It can be understood that if the processing unit 602 obtains the movement intents of a plurality of target pedestrians, and the obtained movement intents include the movement intents crossing the road and the movement intents not crossing the road, the avoidance unit 603 generates a pedestrian avoidance scheme according to the movement intents crossing the road when generating the pedestrian avoidance scheme according to the movement intents of the target pedestrians, so as to further avoid traffic accidents and improve the driving safety of the vehicle.
The avoidance unit 603 generates a solution for avoiding the pedestrian according to the movement intention of the target pedestrian, and may adopt the following alternative implementation modes: in the case where it is determined that the movement intention of the target pedestrian is to cross the road, a pedestrian avoidance scheme that keeps the current lane running and reduces the running speed is generated.
That is, the avoidance unit 603 generates a running scheme for keeping the current running direction and slowing down to avoid the pedestrian after determining that the movement intention of the target pedestrian is crossing the road, so as to avoid the problem that the traffic accident occurs due to the fact that the vehicle bypasses or the running speed of the vehicle is too fast, thereby achieving the purpose of timely avoiding the pedestrian crossing the road and invading the current lane of the vehicle.
The avoidance unit 603 generates a solution for avoiding the pedestrian according to the movement intention of the target pedestrian, and may adopt the following alternative implementation modes: generating a detour path in the event that it is determined that the movement of the target pedestrian is intended not to traverse the road; and taking the generated detour path as a scheme for avoiding pedestrians.
That is, the avoidance unit 603 generates a travel plan of a detour path to avoid pedestrians after determining that the movement intention of the target pedestrian is not to cross the road, thereby changing the current travel direction of the vehicle, achieving the purpose of effectively avoiding pedestrians in a stationary state.
When the avoidance unit 603 generates the detour path, the following alternative implementation manners may be adopted: 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 related user personal information all conform to the regulations of related laws and regulations, and the public sequence is not violated.
According to embodiments of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium and a computer program product.
As shown in fig. 7, a block diagram of an electronic device of a method of avoiding pedestrians in automatic 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 telephones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the disclosure described and/or claimed herein.
As shown in fig. 7, the apparatus 700 includes a computing unit 701 that can perform various appropriate 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 may also be stored. The computing unit 701, the ROM702, and the RAM703 are connected to each other through a bus 704. An input/output (I/O) interface 705 is also connected to bus 704.
Various components in device 700 are connected to I/O interface 705, including: an input unit 706 such as a keyboard, a mouse, etc.; an output unit 707 such as various types of displays, speakers, and the like; a storage unit 708 such as a magnetic disk, an 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.
The computing unit 701 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of computing unit 701 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, etc. The calculation unit 701 performs the respective methods and processes described above, for example, a method of avoiding pedestrians in automatic driving. For example, in some embodiments, the method of pedestrian avoidance in autopilot may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as the storage unit 708.
In some embodiments, part or all of the computer program may be loaded and/or installed onto device 700 via ROM702 and/or communication unit 709. When the computer program is loaded into the RAM 703 and executed by the computing unit 701, one or more steps of the method of avoiding pedestrians in autopilot described above may be performed. Alternatively, in other embodiments, the computing unit 701 may be configured to perform the method of avoiding pedestrians in autonomous driving by any other suitable means (e.g., by means of firmware).
Various implementations of the systems and techniques described here can be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On 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, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
Program code for carrying out methods of the present disclosure may be written in any combination of one or more programming languages. These program code 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 code, when executed by the processor or controller, causes the functions/operations specified in the flowchart and/or block diagram to be implemented. 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. The 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 pointing device (e.g., a mouse or 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 may 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 input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background 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 background, 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 a client and a server. The client and server are typically 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 that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service ("Virtual PRIVATE SERVER" or simply "VPS") are overcome. The server may also be a server of a distributed system or a server that incorporates a blockchain.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps recited in the present disclosure may be performed in parallel, sequentially, or in a different order, provided that the desired results of the disclosed aspects are achieved, and are not limited herein.
The above detailed description should not be taken as limiting the scope of the present disclosure. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present disclosure are intended to be included within the scope of the present disclosure.
Claims (20)
1. A method of avoiding pedestrians in automatic driving, comprising:
in response to detecting that a target pedestrian exists in front of a vehicle, acquiring motion information and traffic light information corresponding to the target pedestrian, wherein the motion information comprises a motion direction of the target pedestrian and a position of the target pedestrian;
Acquiring the movement intention corresponding to the movement information and the movement intention corresponding to the traffic light information, and acquiring the movement intention of the target pedestrian according to the movement intention corresponding to the movement information and the movement intention corresponding to the traffic light information;
Generating a scheme for avoiding the pedestrians according to the movement intention of the target pedestrians;
wherein, the acquiring the motion intention corresponding to the motion information includes:
determining a target lane line corresponding to the target pedestrian when crossing a road according to the position of the target pedestrian;
Acquiring the movement intention corresponding to the movement information according to the movement directions of the target lane line and the target pedestrian;
The obtaining the movement intention of the target pedestrian according to the movement intention corresponding to the movement information and the movement intention corresponding to the traffic light information comprises the following steps:
In the case where it is determined that the movement intention corresponding to the movement information and the movement intention corresponding to the traffic light information are not identical, the crossing road is taken as the movement intention of the target pedestrian.
2. The method of claim 1, wherein detecting the presence of a target pedestrian in front of the vehicle comprises:
Pedestrian detection is carried out on the front of the vehicle;
and in the case where it is determined that the detected pedestrian is located in the preset range in front of the vehicle, taking the detected pedestrian as the target pedestrian.
3. The method of claim 1, wherein the acquiring the movement intent corresponding to the movement information according to the movement directions of the target lane line and the target pedestrian comprises:
Taking the angle value of the 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 under the condition that the movement direction angle value of the target pedestrian meets the preset requirement, taking a crossing road as the movement intention corresponding to the movement information, otherwise, taking a non-crossing road as the movement intention corresponding to the movement information.
4. The method of claim 3, wherein the determining that the target pedestrian's direction of motion angle value meets 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 the preset requirement.
5. The method of claim 1, wherein the obtaining the movement intent corresponding to the traffic light information comprises:
If the traffic light information is determined to be red light, the road is not traversed as the movement intention corresponding to the traffic light information, otherwise, the road is traversed as the movement intention corresponding to the traffic light information.
6. The method of claim 1, wherein the obtaining the movement intent corresponding to the traffic light information comprises:
responsive to detecting the presence of a target pedestrian in front of a vehicle, controlling the vehicle to stop, displaying a prompt on a body of the vehicle;
Obtaining the stationary time of the target pedestrian while waiting for the target pedestrian to pass after the vehicle is stopped;
And under the condition that the traffic signal lamp information is determined to be green, and the rest time exceeds a preset time threshold, taking a non-crossing road as the movement intention corresponding to the traffic signal lamp information, and otherwise taking a crossing road as the movement intention corresponding to the traffic signal lamp information.
7. The method of claim 1, wherein the generating a pedestrian avoidance scheme based on the intent of the target pedestrian's movement comprises:
In the case that the movement intention of the target pedestrian is determined to be crossing the road, a pedestrian avoidance scheme that keeps the current lane running and reduces the running speed is generated.
8. The method of claim 1, wherein the generating a pedestrian avoidance scheme based on the intent of the target pedestrian's movement comprises:
generating a detour path if it is determined that the movement of the target pedestrian is intended to not traverse the road;
and taking the detour path as the pedestrian avoidance scheme.
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 pedestrians in automatic driving, comprising:
An acquisition unit for acquiring movement information and traffic light information corresponding to a target pedestrian in response to detection of the presence of the target pedestrian in front of a vehicle, the movement information including a movement direction of the target pedestrian and a position of the target pedestrian;
The processing unit is used for acquiring the movement intention corresponding to the movement information and the movement intention corresponding to the traffic light information, and acquiring the movement intention of the target pedestrian according to the movement intention corresponding to the movement information and the movement intention corresponding to the traffic light information;
The avoidance unit is used for generating a scheme for avoiding the pedestrians according to the movement intention of the target pedestrians;
The processing unit specifically executes when acquiring the movement intention corresponding to the movement information:
determining a target lane line corresponding to the target pedestrian when crossing a road according to the position of the target pedestrian;
Acquiring the movement intention corresponding to the movement information according to the movement directions of the target lane line and the target pedestrian;
the processing unit specifically performs when the movement intention of the target pedestrian is obtained according to the movement intention corresponding to the movement information and the movement intention corresponding to the traffic light information:
In the case where it is determined that the movement intention corresponding to the movement information and the movement intention corresponding to the traffic light information are not identical, the crossing road is taken as the movement intention of the target pedestrian.
11. The apparatus according to claim 10, wherein the acquisition unit, when detecting that there is a target pedestrian in front of the vehicle, specifically performs:
Pedestrian detection is carried out on the front of the vehicle;
and in the case where it is determined that the detected pedestrian is located in the preset range in front of the vehicle, taking the detected pedestrian as the target pedestrian.
12. The apparatus of claim 10, wherein the processing unit, when acquiring the movement intention corresponding to the movement information according to the movement directions of the target lane line and the target pedestrian, specifically performs:
Taking the angle value of the 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 under the condition that the movement direction angle value of the target pedestrian meets the preset requirement, taking a crossing road as the movement intention corresponding to the movement information, otherwise, taking a non-crossing road as the movement intention corresponding to the movement information.
13. The apparatus of claim 12, wherein the processing unit, upon determining that the movement direction angle value 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 the preset requirement.
14. The apparatus of claim 10, wherein the processing unit, when acquiring the movement intent corresponding to the traffic light information, specifically performs:
If the traffic light information is determined to be red light, the road is not traversed as the movement intention corresponding to the traffic light information, otherwise, the road is traversed as the movement intention corresponding to the traffic light information.
15. The apparatus of claim 10, wherein the processing unit, when acquiring the movement intent corresponding to the traffic light information, specifically performs:
responsive to detecting the presence of a target pedestrian in front of a vehicle, controlling the vehicle to stop, displaying a prompt on a body of the vehicle;
Obtaining the stationary time of the target pedestrian while waiting for the target pedestrian to pass after the vehicle is stopped;
And under the condition that the traffic signal lamp information is determined to be green, and the rest time exceeds a preset time threshold, taking a non-crossing road as the movement intention corresponding to the traffic signal lamp information, and otherwise taking a crossing road as the movement intention corresponding to the traffic signal lamp information.
16. The apparatus of claim 10, wherein the avoidance unit, when generating a pedestrian avoidance scheme according to the movement intention of the target pedestrian, specifically performs:
In the case that the movement intention of the target pedestrian is determined to be crossing the road, a pedestrian avoidance scheme that keeps the current lane running and reduces the running speed is generated.
17. The apparatus of claim 10, wherein the avoidance unit, when generating a pedestrian avoidance scheme according to the movement intention of the target pedestrian, specifically performs:
generating a detour path if it is determined that the movement of the target pedestrian is intended to not traverse the road;
and taking the detour path as the pedestrian avoidance scheme.
18. The apparatus of claim 17, wherein the avoidance unit, when generating a 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 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 storing computer instructions for causing the computer to perform the method of any one of claims 1-9.
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