CN114537447A

CN114537447A - Safe passing method and device, electronic equipment and storage medium

Info

Publication number: CN114537447A
Application number: CN202210337915.6A
Authority: CN
Inventors: 张志晨; 田晓生; 张帅
Original assignee: Uisee Technologies Beijing Co Ltd
Current assignee: Uisee Technologies Beijing Co Ltd
Priority date: 2022-03-31
Filing date: 2022-03-31
Publication date: 2022-05-27

Abstract

The embodiment of the disclosure discloses a safe passing method, a safe passing device, electronic equipment and a storage medium, wherein the method comprises the following steps: acquiring a target obstacle within a preset distance range according to a vehicle-mounted sensor; acquiring a blind area polygon of a perception blind area based on the target barrier; obtaining a relation lane associated with the current lane of the vehicle according to the high-precision map; acquiring a collision intersection point of the relation lane and the blind area polygon, and determining the collision intersection point closest to the current lane of the vehicle as a target intersection point; and determining the expected speed of the host vehicle according to the target intersection point so as to reduce the collision risk between the host vehicle and the obstacle in the perception blind area. The present disclosure improves the driving safety of the autonomous vehicle in a driving environment with a blind area, and reduces the production cost.

Description

Safe passing method and device, electronic equipment and storage medium

Technical Field

The present disclosure relates to the field of automatic driving technologies, and in particular, to a safe passing method and apparatus, an electronic device, and a storage medium.

Background

In autonomous driving, the vehicle relies entirely on-board sensors, such as laser radar, millimeter wave radar, cameras, etc., to obtain environmental information. The sensors are transmitted to the vehicle-mounted core controller through a series of perception algorithms, so that the automatic driving vehicle can run a series of decision planning algorithms according to the information, and the automatic driving vehicle can be controlled to move autonomously in a complex environment. The sensor mounting positions are generally arranged on the top of the head of a vehicle, the distance is farther than that of a human, if a vehicle or a wall body is arranged on the side of the vehicle, a part of shielding (blind area) is generated on the visual angle of the sensor, the sensor cannot observe a left front intersection or a right front intersection, certain safety risk is brought to an automatic driving vehicle, if a barrier with higher speed suddenly appears in the blind area, the automatic driving vehicle can possibly avoid untimely, and therefore dangerous accidents are caused. The method is also suitable for driving of human drivers, and a certain perception blind area exists, but the human drivers can flexibly make certain actions according to the environment, so that the driving can be safer and more reliable. But for autonomous vehicles, if not perceived, it is considered safe at this time and does not have a human-like understanding of the environment.

At present, if a solution of perception blind areas occurs in automatic driving vehicles, for example, the Baidu automatic driving adopts a vehicle-road cooperation technology, namely, a vehicle-road system device is installed at each traffic intersection, and a camera is arranged on the vehicle-road system device, so that the environment in the intersection can be perceived in real time, and information is sent to the automatic driving vehicles about to enter the intersection. The first method is to add a vehicle-road cooperative device at each intersection, which consumes manpower and material resources and increases the cost, and the second method is to generate blind areas which are not generated completely in the intersections, possibly stop vehicles beside roads, extend a road in front of the vehicles and generate blind areas, so that the vehicle-road cooperative technology cannot solve the problem at the moment.

Disclosure of Invention

In order to solve the technical problems or at least partially solve the technical problems, embodiments of the present disclosure provide a safe passing method, device, electronic device, and storage medium, which improve the driving safety of an autonomous vehicle in a driving environment with a blind area and reduce the production cost.

In a first aspect, an embodiment of the present disclosure provides a safe passage method, where the method includes: acquiring a target obstacle within a preset distance range according to a vehicle-mounted sensor; acquiring a blind area polygon of a perception blind area based on the target barrier; obtaining a relation lane associated with the current lane of the vehicle according to the high-precision map; acquiring a collision intersection point of the relation lane and a blind area polygon, and determining the collision intersection point closest to the current lane of the vehicle as a target intersection point; and determining the expected speed of the host vehicle according to the target intersection point so as to reduce the collision risk between the host vehicle and the obstacle in the perception blind area.

In a second aspect, an embodiment of the present disclosure further provides a safe passage device, where the device includes: the first acquisition module is used for acquiring a target obstacle within a preset distance range according to the vehicle-mounted sensor; the second acquisition module is used for acquiring a blind area polygon of the perception blind area based on the target barrier; the first determining module is used for obtaining a relation lane related to the current lane of the vehicle according to the high-precision map; the second determining module is used for acquiring a collision intersection point of the relation lane and the blind area polygon, and determining the collision intersection point which is closest to the current lane of the vehicle as a target intersection point; and the third determining module is used for determining the expected speed of the vehicle according to the target intersection point so as to reduce the collision risk between the vehicle and the obstacle in the perception blind area.

In a third aspect, an embodiment of the present disclosure further provides an electronic device, where the electronic device includes: one or more processors; storage means for storing one or more programs; when executed by the one or more processors, cause the one or more processors to implement the secure passage method as described above.

In a fourth aspect, the disclosed embodiments also provide a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the secure passage method as described above.

According to the safe passing method provided by the embodiment of the disclosure, a perception blind area polygon is obtained according to a vehicle-mounted sensor and a target barrier, and a collision intersection point of a related lane and the blind area polygon is obtained; determining a collision intersection point which is closest to the current lane of the vehicle as a target intersection point; according to the target intersection point, the expected speed of the vehicle is determined, the problem that the automatic driving vehicle cannot sense other obstacles behind the blind area due to the blind area caused by the fact that the size of the target obstacle in the sensing range of the vehicle-mounted sensor is too large is solved, consumption of vehicle-road cooperative cost is reduced, and safety of vehicle passing is improved.

Drawings

The above and other features, advantages and aspects of various embodiments of the present disclosure will become more apparent by referring to the following detailed description when taken in conjunction with the accompanying drawings. Throughout the drawings, the same or similar reference numbers refer to the same or similar elements. It should be understood that the drawings are schematic and that elements and features are not necessarily drawn to scale.

FIG. 1 is a flow chart of a secure passage method in an embodiment of the present disclosure;

FIG. 2 is a schematic diagram of a blind spot polygon of a target obstacle in an embodiment of the present disclosure;

FIG. 3 is a schematic illustration of a relational lane in an embodiment of the disclosure;

FIG. 4 is a schematic diagram of a collision intersection point of a relationship lane and a blind spot polygon in an embodiment of the present disclosure;

FIG. 5 is a schematic diagram of a road surface scene based on a limited condition in an embodiment of the disclosure;

fig. 6 is a schematic structural diagram of a safety traffic device in an embodiment of the present disclosure;

fig. 7 is a schematic structural diagram of an electronic device in an embodiment of the present disclosure.

Detailed Description

Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure are shown in the drawings, it is to be understood that the present disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein, but rather are provided for a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the disclosure are for illustration purposes only and are not intended to limit the scope of the disclosure.

It should be noted that the terms "first", "second", and the like in the present disclosure are only used for distinguishing different devices, modules or units, and are not used for limiting the order or interdependence relationship of the functions performed by the devices, modules or units.

The names of messages or information exchanged between devices in the embodiments of the present disclosure are for illustrative purposes only, and are not intended to limit the scope of the messages or information.

In the existing solution for sensing blind areas in automatically driven vehicles, the Baidu automatic driving adopts a vehicle-road cooperation technology, namely, a vehicle-road system device is installed at each traffic intersection, and a camera is arranged on the vehicle-road system device, so that the environment in the intersection can be sensed in real time, and information is sent to the automatically driven vehicles which are about to enter the intersection. The first method is to add a vehicle-road cooperative device at each intersection, which consumes manpower and material resources and increases the cost, and the second method is to generate blind areas which are not generated completely in the intersections, possibly stop vehicles beside roads, extend a road in front of the vehicles and generate blind areas, so that the vehicle-road cooperative technology cannot solve the problem at the moment.

In order to solve the above problems, the embodiment of the disclosure provides a safe passing method, which solves the problem that an autonomous vehicle cannot sense other obstacles behind a blind area due to a blind area caused by an oversize target obstacle in a sensing range of a vehicle-mounted sensor, reduces the consumption of vehicle-road cooperation cost, and improves the passing safety of the vehicle. Fig. 1 is a flowchart of a safe passage method in an embodiment of the present disclosure. The method can be executed by a secure access device, which can be implemented in software and/or hardware, and can be configured in an electronic device, such as a server.

As shown in fig. 1, the method may specifically include the following steps:

and 110, acquiring a target obstacle within a preset distance range according to the vehicle-mounted sensor.

In an embodiment, the acquiring a target obstacle within a preset distance range according to a vehicle-mounted sensor includes: acquiring all obstacles in a preset distance range through the vehicle-mounted sensor, and performing type filtering on all the obstacles to acquire a first filtered obstacle; and determining a first obstacle with a height larger than the height of the vehicle as a target obstacle. Specifically, firstly, sensing all obstacles in a range of 100 meters to 200 meters by the vehicle-mounted sensor, filtering the obstacles which cannot shield the sensor to generate blind areas, such as pedestrians and bicycles, and then calculating the obstacles of sedan, truck and cargo types; the height of the vehicle is compared with the height of obstacles of car, truck and cargo types, the obstacle higher than the height of the vehicle is determined, and the obstacle higher than the height of the vehicle is determined as a target obstacle. It is determined that these target obstacles may have a perception shadow of the on-board sensors.

And 120, acquiring a blind area polygon of the perception blind area based on the target barrier.

In one embodiment, according to the position relationship between the target obstacle and the vehicle-mounted sensor, a tangent point of the target obstacle and a tangent line starting from the vehicle-mounted sensor and passing through the tangent point are obtained based on a first preset algorithm; extending the tangent line by a preset length along a direction away from the vehicle to obtain a vertex; and determining a blind area polygon of the perception blind area according to the tangent point and the vertex. FIG. 2 is a schematic diagram of a blind spot polygon of a target obstacle in an embodiment of the present disclosure; as shown in fig. 2, according to the installation position of the vehicle-mounted sensor, for example, the installation position of the laser radar of the vehicle ego, a tangent of a tangent point of the target obstacle obj and a tangent line of a maximum angle of an enveloping obstacle are obtained based on a first preset algorithm, where the first preset algorithm includes a brute force search method, a binary search method, and the like, the present invention obtains two tangent points point _1 and point _2 of the target obstacle obj and the vehicle ego by using the brute force search method, extends blind _ area _ length backward away from the laser radar direction along the tangent line to obtain two vertices, which are denoted as point _3 and point _4, and connects point _1, point _2, point _3, and point _4 in sequence to form a blind area polygon. Where blind _ area _ length is the distance extending from the tangent point back along the tangent line, and obj is the obstacle and its shape as perceived using lidar. The lidar _ position is the installation position of the laser radar.

And step 130, obtaining a relation lane related to the current lane of the vehicle according to the high-precision map.

FIG. 3 is a schematic illustration of a relational lane in an embodiment of the present disclosure; obtaining a relation lane associated with the current lane of the vehicle according to the high-precision map; specifically, based on a high-precision map obtained in advance, the lanes intersecting the lane in which the host vehicle is located, such as an incoming lane that enters the lane of the host vehicle and a passing lane that passes through the lane of the host vehicle, are found. We define the merging lane and the crossing lane as relational lanes. For public roads, we default that blind zone obstacles, such as vehicles, may occur only on the relationship lanes, so there is a concept of blind zones only if there is a relationship lane. Referring to fig. 3 in detail, the relational lanes related to the lane ego _ lane301 in which the host vehicle is located include merge _ lane _1401 and merge _ lane _2402 merging into the lane of the host vehicle, and cross _ lane _1501 and cross _ lane _2302 crossing through the lane of the host vehicle.

And 140, acquiring a collision intersection point of the relation lane and the blind area polygon, and determining the collision intersection point closest to the current lane of the vehicle as a target intersection point.

In one embodiment, obtaining the collision intersection point of the relation lane and the blind zone polygon comprises

Acquiring sampling points corresponding to the relation lanes in the high-precision map; traversing all the sampling points based on a second preset algorithm to obtain at least one group of adjacent first sampling points and second sampling points, wherein the first sampling points are positioned outside the blind area polygon, and the second sampling points are positioned inside the blind area polygon; acquiring a sampling point ray based on the first sampling point and the second sampling point; and determining the intersection point of the sampling point ray and the blind area polygon based on a collision detection algorithm, and determining the intersection point as the collision intersection point of the relation lane and the blind area polygon. Specifically, as shown in fig. 3-4, since the relational lane is often in the shape of a curve, there is no mathematical calculation method for calculating the intersection point of the curve and the blind zone polygon. Therefore, the invention combines the sampling and collision detection algorithm to obtain the collision intersection point of the blind area polygon and the relation lane curve. Firstly, when a high-precision map is produced, relational lanes are sampled, a node point is arranged in each relational lane at a certain distance, the starting point of each relational lane is node (1), and the ending point of each relational lane is node (n). The method comprises the following steps that a node (n) is sequentially traversed from the node (1) based on preset algorithms, such as an area discrimination method, an included angle discrimination method, an injection line discrimination method and the like, a first sampling point and a second sampling point are searched by the method, as shown in fig. 4, a current lane ego _ lane301 and a related lane merge _ lane 1401 of a vehicle find a first group of adjacent first sampling points node (i-1) located outside a polygon and a second sampling point node (i) located inside the polygon, and a second group of adjacent first sampling points node (k) located outside the polygon and a second sampling point node (k-1) located inside the polygon; connecting a first sampling point node (i-1) with a second sampling point node (i) to obtain a sampling point ray line _1, obtaining a collision intersection point of the sampling point ray line _1 and a dead zone polygon according to a collision detection algorithm, marking the collision intersection point as point _1, connecting a first sampling point node (k) with a second sampling point node (k-1) to obtain an intersection point of the sampling point ray line _2 and the dead zone polygon according to the collision detection algorithm, determining the intersection point as a collision intersection point, and marking the collision intersection point as point _ 2. Therefore, collision intersection points point _1 and point _2 of the blind area polygon and the relation lane merge _ lane _1 are obtained. The collision detection algorithm comprises a physical ray method (Raycast), GJK and the like, and the Racast algorithm is adopted in the invention. As shown in fig. 3, the blind zone polygon may intersect with a plurality of relationship lanes, and each relationship lane acquires a collision intersection point in the manner described above with reference to fig. 4.

In one embodiment, after the collision intersection is obtained, the collision intersection closest to the current lane ego _ lane of the host vehicle is determined as the target intersection. Specifically, after the collision intersection is acquired, the distance from the collision intersection to the current lane of the vehicle is compared, referring to fig. 3, the collision intersection of the relationship lane 302 and the relationship lane 401 is acquired, the collision intersection of the relationship lane 302 and the relationship lane 401 is compared, and the collision intersection closest to the current lane301 of the vehicle among all the collision intersections of the relationship lane 302 and the relationship lane 401 is determined as the target intersection. Referring to fig. 4 in detail, the distances from the collision intersection point _1 and the collision intersection point _2 to the host-vehicle current lane ego _ lane are compared, and it is determined that the distance from the collision intersection point _1 to the host-vehicle current lane ego _ lane is smaller than the distance from the collision intersection point _2 to the host-vehicle current lane ego _ lane, and therefore the collision intersection point _1 is determined as the target intersection point.

And 150, determining the expected speed of the vehicle according to the target intersection point.

In one embodiment, a collision position of a junction of a current lane and a relation lane of the vehicle is obtained; acquiring the maximum deceleration of the vehicle, a first distance from a first current position of the vehicle to the collision position and a second distance from the target intersection point to the collision position; determining a desired speed of the host vehicle based on a relationship of correlation amounts under defined conditions, wherein the correlation amounts include a speed of an assumed obstacle, a length of the assumed obstacle, a maximum deceleration of the host vehicle, the first distance, and the second distance.

In one embodiment, a condition is defined that, when the host vehicle uniformly decelerates from the first current position to the collision position at the maximum deceleration, the assumed obstacle reaches a first position (B) from the target intersection position at a uniform velocity at the speed of the assumed obstacle, and the distance by which the host vehicle uniformly decelerates from the first current position to the collision position at the maximum deceleration is the first distance; and the distance from the assumed obstacle to the first position (B) at a constant speed from the target intersection point position is the sum of the second distance and the length of the assumed obstacle. Specifically, as shown in fig. 5, the collision intersection point _1 is determined as the target intersection point, the assumed obstacle obj is located at the target intersection point, the velocity obj _ vel of the assumed obstacle obj and the second distance obj _ dist _ to _ intersect of the assumed obstacle obj from the target intersection point _1 to the collision position O (assuming that the obstacle is located at the C position) are determined from the road network, and the distance from the host vehicle to the collision position O (the host vehicle is located at the a position) through uniform deceleration from the first current position M by the maximum deceleration ego _ max _ dec is the first distance ego _ dist _ to _ intersect. When the collision position O is the assumed obstacle position C and the host vehicle is at the position a, the assumed obstacle collides with the host vehicle. When the limiting condition is that the host vehicle uniformly decelerates from the first current position M to the collision position O at the maximum deceleration ego _ max _ dec, the velocity obj _ vel of the obstacle obj is assumed to be uniform from the target intersection point _1 position to the first position B, and the distance from the uniform velocity of the velocity obj _ vel of the obstacle obj from the target intersection point _1 position to the first position B is assumed to be the sum of the second distance and the length of the assumed obstacle.

In one embodiment, the relationship of the correlation quantities under the defined conditions is:

ego_dist_to_intersect＝ego_expect_vel*min(obj_t,ego_max_dec_t)+0.5*ego_max_dec*min(obj_t,ego_max_dec_t)*min(obj_t,ego_max_dec_t)(3)

wherein ego _ dist _ to _ interject indicates the first distance, obj _ dist _ to _ interject indicates the second distance, obj _ length indicates the length of the assumed obstacle, ego _ expect _ vel indicates the desired speed of the host vehicle, obj _ vel indicates the speed of the assumed obstacle, ego _ max _ dec indicates the maximum deceleration of the host vehicle, ego _ max _ dec _ t indicates the time taken for the host vehicle to travel the first distance from the first current position, and obj _ t indicates the time taken for the assumed obstacle to reach the first position (B) at the speed of the assumed obstacle from the target intersection position at a uniform speed.

In one embodiment, a first maximum speed limit for the host vehicle to reach the collision position is obtained based on the time taken for the speed of the assumed obstacle to reach the first position (B) from the target intersection position at a constant speed; obtaining a second maximum speed limit for the vehicle to reach the collision position based on the first distance and the time taken by the vehicle to travel the first distance from the first current position; and comparing the speed limit values of the first maximum speed limit and the second maximum speed limit, and determining the maximum speed limit with the minimum speed limit value as the expected speed.

Wherein, the formula (3) can be written in the form of formula (4) and formula (5), and the desired speed ego _ expect _ vel includes a first maximum speed limit ego _ expect _ vel-1 and a second maximum speed limit ego _ expect _ vel-2

ego_dist_to_intersect＝ego_expect_vel-1*obj_t+0.5*ego_max_dec*obj_t*obj_t (4)

ego_dist_to_intersect＝ego_expect_vel-2*ego_max_dec_t+0.5*ego_max_dec*ego_max_dec_t*ego_max_dec_t (5)

Specifically, according to obj _ t solved by the formula (1), the obj _ t is substituted into the formula (4) to solve the first maximum speed limit ego _ expect _ vel-1, then, according to the formula (2) and the formula (5), simultaneous solution is performed to solve the second maximum speed limit ego _ expect _ vel-2, the speed limit values of the first maximum speed limit ego _ expect _ vel-1 and the second maximum speed limit ego _ expect _ vel-2 are compared, and the maximum speed limit with the minimum speed limit value is determined as the expected speed.

According to the safe passing method provided by the embodiment, a perception blind area polygon is obtained according to a vehicle-mounted sensor and a target obstacle, and a collision intersection point of a related lane and the blind area polygon is obtained; determining a collision intersection point which is closest to the current lane of the vehicle as a target intersection point; according to the target intersection point, the expected speed of the vehicle is determined, the problem that the automatic driving vehicle cannot sense other obstacles behind the blind area due to the fact that the size of the target obstacle in the sensing range of the vehicle-mounted sensor is too large, consumption of the vehicle-road cooperation cost is reduced, and the traffic safety is improved.

Fig. 6 is a schematic structural diagram of a safety traffic device in an embodiment of the present disclosure. As shown in fig. 6: the device includes: the system comprises a first obtaining module 210, a second obtaining module 220, a first determining module 230, a second determining module 240 and a third determining module 250, wherein the first obtaining module 210 is used for obtaining a target obstacle within a preset distance range according to a vehicle-mounted sensor; the second obtaining module 220 obtains a blind area polygon of the perception blind area based on the target barrier; a first determining module 230, configured to obtain a relationship lane associated with a current lane of the host vehicle according to the high-precision map; a second determining module 240, configured to obtain a collision intersection point between the relation lane and the blind area polygon, and determine a collision intersection point closest to the current lane of the host vehicle as a target intersection point; a third determining module 250, configured to determine, according to the target intersection point, a desired speed of the host vehicle, so as to reduce a risk of collision between the host vehicle and an obstacle in the blind perception area.

Optionally, the first obtaining module 210 includes a first obtaining unit, where the first obtaining unit: the vehicle-mounted sensor is used for acquiring all obstacles in a preset distance range, filtering the types of all the obstacles and acquiring a first filtered obstacle; and determining a first obstacle with a height larger than the height of the vehicle as a target obstacle.

Optionally, the second obtaining module 220 includes a second obtaining unit, where the second obtaining unit: the system comprises a vehicle-mounted sensor, a target obstacle, a tangent point and a tangent line, wherein the vehicle-mounted sensor is used for acquiring the tangent point of the target obstacle and the tangent line which initially passes through the tangent point from the vehicle-mounted sensor based on a first preset algorithm according to the position relation between the target obstacle and the vehicle-mounted sensor; extending the tangent line by a preset length along a direction away from the vehicle to obtain a vertex; and determining a blind area polygon of the perception blind area according to the tangent point and the vertex.

Optionally, the second determining module 240 includes a third obtaining unit, and the third obtaining unit: the system is used for acquiring sampling points corresponding to the relation lanes in the high-precision map; traversing all the sampling points based on a second preset algorithm to obtain at least one group of adjacent first sampling points and second sampling points, wherein the first sampling points are positioned outside the blind area polygon, and the second sampling points are positioned inside the blind area polygon; acquiring a sampling point ray based on the first sampling point and the second sampling point; and determining the intersection point of the sampling point ray and the blind area polygon based on a collision detection algorithm, and determining the intersection point as the collision intersection point of the relation lane and the blind area polygon.

Optionally, the third determining module 250 includes a first determining unit, and the first determining unit: the collision position of the intersection of the current lane and the relation lane of the vehicle is obtained; acquiring the maximum deceleration of the vehicle, a first distance from a first current position of the vehicle to the collision position and a second distance from the target intersection point to the collision position; determining a desired speed of the host vehicle based on a relationship of correlation amounts under defined conditions, wherein the correlation amounts include a speed of an assumed obstacle, a length of the assumed obstacle, a maximum deceleration of the host vehicle, the first distance, and the second distance.

Wherein the limiting conditions are as follows: when the host vehicle uniformly decelerates from the first current position to the collision position at the maximum deceleration, the assumed obstacle reaches a first position (B) from the target intersection position at a uniform speed at the speed of the assumed obstacle; the distance from the host vehicle to the collision position through uniform deceleration from the first current position at the maximum deceleration is the first distance; and the distance from the assumed obstacle to the first position (B) at a constant speed from the target intersection point position is the sum of the second distance and the length of the assumed obstacle.

The relation of the correlation quantity under the limited condition is as follows:

obj_t＝(obj_dist_to_inersect+obj_length)/(obj_vel)

ego_max_dec_t＝|(ego_expect_vel)/(ego_max_dec)|

ego_dist_to_intersect＝ego_expect_vel*min(obj_t,ego_max_dec_t)+0.5*ego_max_dec*min(obj_t,ego_max_dec_t)*min(obj_t,ego_max_dec_t)

Optionally, the third determining module 250 includes a second determining unit, and the second determining unit: obtaining a first maximum speed limit for the host vehicle to reach the collision position based on the time taken for the speed of the assumed obstacle to reach the first position (B) at a constant speed from the target intersection position; obtaining a second maximum speed limit for the vehicle to reach the collision position based on the first distance and the time taken by the vehicle to travel the first distance from the first current position; and comparing the speed limit values of the first maximum speed limit and the second maximum speed limit, and determining the maximum speed limit with the minimum speed limit value as the expected speed.

The safe passing device provided by the embodiment of the disclosure can execute the steps in the safe passing method provided by the embodiment of the disclosure, and the steps and the beneficial effects are not repeated herein.

Fig. 7 is a schematic structural diagram of an electronic device in an embodiment of the disclosure. Referring now specifically to fig. 7, a schematic block diagram of an electronic device 500 suitable for use in implementing embodiments of the present disclosure is shown. The electronic device shown in fig. 7 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present disclosure.

As shown in fig. 7, electronic device 500 may include a processing means (e.g., central processing unit, graphics processor, etc.) 501 that may perform various appropriate actions and processes to implement the methods of embodiments as described in this disclosure in accordance with a program stored in a Read Only Memory (ROM)502 or a program loaded from a storage means 508 into a Random Access Memory (RAM) 503. In the RAM 503, various programs and data necessary for the operation of the electronic apparatus 500 are also stored. The processing device 501, the ROM 502, and the RAM 503 are connected to each other through a bus 504. An input/output (I/O) interface 505 is also connected to bus 504.

In particular, according to an embodiment of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program carried on a non-transitory computer readable medium, the computer program containing program code for performing the method illustrated by the flow chart, thereby implementing the secure transit method as described above. In such an embodiment, the computer program may be downloaded and installed from a network via the communication means 509, or installed from the storage means 508, or installed from the ROM 502. The computer program performs the above-described functions defined in the methods of the embodiments of the present disclosure when executed by the processing device 501.

It should be noted that the computer readable medium in the present disclosure can be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In contrast, in the present disclosure, a computer readable signal medium may comprise a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.

The computer readable medium may be embodied in the electronic device; or may exist separately without being assembled into the electronic device. The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: acquiring a target obstacle within a preset distance range according to a vehicle-mounted sensor; acquiring a blind area polygon of a perception blind area based on the target barrier; obtaining a relation lane associated with the current lane of the vehicle according to the high-precision map; acquiring a collision intersection point of the relation lane and the blind area polygon, and determining the collision intersection point closest to the current lane of the vehicle as a target intersection point; and determining the expected speed of the host vehicle according to the target intersection point so as to reduce the collision risk between the host vehicle and the obstacle in the perception blind area.

Optionally, when the one or more programs are executed by the electronic device, the electronic device may further perform other steps described in the above embodiments.

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.

Scheme 1, a method for secure passage, the method comprising:

acquiring a target obstacle within a preset distance range according to a vehicle-mounted sensor;

acquiring a blind area polygon of a perception blind area based on the target barrier;

obtaining a relation lane associated with the current lane of the vehicle according to the high-precision map;

acquiring a collision intersection point of the relation lane and the blind area polygon, and determining the collision intersection point closest to the current lane of the vehicle as a target intersection point;

and determining the expected speed of the host vehicle according to the target intersection point so as to reduce the collision risk between the host vehicle and the obstacle in the perception blind area.

Scheme 2, the method according to scheme 1, the obtaining a target obstacle within a preset distance range according to a vehicle-mounted sensor, includes:

acquiring all obstacles in a preset distance range through the vehicle-mounted sensor, and performing type filtering on all the obstacles to acquire a first filtered obstacle;

and determining a first obstacle with a height larger than the height of the vehicle as a target obstacle.

Scheme 3, the method according to

scheme

1 or 2, where obtaining a blind area polygon of a perception blind area based on the target obstacle includes:

according to the position relation between the target obstacle and the vehicle-mounted sensor, acquiring a tangent point of the target obstacle and a tangent line which initially passes through the tangent point from the vehicle-mounted sensor based on a first preset algorithm;

extending the tangent line by a preset length along a direction away from the vehicle to obtain a vertex;

and determining a blind area polygon of the perception blind area according to the tangent point and the vertex.

Scheme 4, the method according to

scheme

1 or 2, where the obtaining of the collision intersection point of the relation lane and the blind area polygon includes:

acquiring sampling points corresponding to the relation lanes in the high-precision map;

traversing all the sampling points based on a second preset algorithm to obtain at least one group of adjacent first sampling points and second sampling points, wherein the first sampling points are positioned outside the blind area polygon, and the second sampling points are positioned inside the blind area polygon;

acquiring a sampling point ray based on the first sampling point and the second sampling point;

and determining the intersection point of the sampling point ray and the blind area polygon based on a collision detection algorithm, and determining the intersection point as the collision intersection point of the relation lane and the blind area polygon.

The method of claim 5 or claim 1, wherein determining the desired speed of the host vehicle based on the target intersection point comprises:

acquiring a collision position of a junction of a current lane and a relation lane of the vehicle;

acquiring the maximum deceleration of the vehicle, a first distance from a first current position of the vehicle to the collision position and a second distance from the target intersection point to the collision position;

determining a desired speed of the host vehicle based on a relationship of correlation amounts under defined conditions, wherein the correlation amounts include a speed of an assumed obstacle, a length of the assumed obstacle, a maximum deceleration of the host vehicle, the first distance, and the second distance.

Scheme 6 the method of scheme 5, with the proviso that:

when the host vehicle uniformly decelerates from the first current position to the collision position at the maximum deceleration, the assumed obstacle reaches a first position from the target intersection point position at a uniform speed at the speed of the assumed obstacle;

the distance from the host vehicle to the collision position through uniform deceleration from the first current position at the maximum deceleration is the first distance;

and the distance from the assumed obstacle to the first position from the target intersection point position at a constant speed is the sum of the second distance and the length of the assumed obstacle.

Scheme 7, the method according to scheme 6, wherein the relation of the correlation quantity under the defined condition is as follows:

wherein ego _ dist _ to _ inter represents the first distance, obj _ dist _ to _ inter represents the second distance, obj _ length represents the length of the assumed obstacle, ego _ expect _ vel represents the desired speed of the host vehicle, obj _ vel represents the speed of the assumed obstacle, ego _ max _ dec represents the maximum deceleration of the host vehicle, ego _ max _ dec _ t represents the time taken by the host vehicle to travel the first distance from the first current position at a uniform speed of the assumed obstacle from the target intersection position to the first position, and obj _ t represents the time taken by the assumed obstacle to reach the first position at the uniform speed of the assumed obstacle from the target intersection position.

The method according to claim 8 or any one of claims 5 to 7, wherein the determining the desired speed of the host vehicle from the relationship of the correlation amount under the defined condition includes:

obtaining a first maximum speed limit of the vehicle reaching the collision position based on the time taken for the speed of the assumed obstacle to reach a first position from a target intersection point position at a constant speed;

obtaining a second maximum speed limit for the vehicle to reach the collision position based on the first distance and the time taken by the vehicle to travel the first distance from the first current position;

and comparing the speed limit values of the first maximum speed limit and the second maximum speed limit, and determining the maximum speed limit with the minimum speed limit value as the expected speed.

Scheme 9, a safe device of passing, includes:

the first acquisition module is used for acquiring a target obstacle within a preset distance range according to the vehicle-mounted sensor;

the second acquisition module is used for acquiring a blind area polygon of the perception blind area based on the target barrier;

the first determining module is used for obtaining a relation lane related to the current lane of the vehicle according to the high-precision map;

the second determining module is used for acquiring a collision intersection point of the relation lane and the blind area polygon, and determining the collision intersection point which is closest to the current lane of the vehicle as a target intersection point;

and the third determining module is used for determining the expected speed of the vehicle according to the target intersection point so as to reduce the collision risk between the vehicle and the obstacle in the perception blind area.

Scheme 10, an electronic device, the electronic device comprising:

one or more processors;

storage means for storing one or more programs;

when executed by the one or more processors, cause the one or more processors to implement the method of any of aspects 1-8.

Scheme 11, a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method according to any of schemes 1-8.

The foregoing description is only exemplary of the preferred embodiments of the disclosure and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the disclosure herein is not limited to the particular combination of features described above, but also encompasses other embodiments in which any combination of the features described above or their equivalents does not depart from the spirit of the disclosure. For example, the above features and (but not limited to) the features disclosed in this disclosure having similar functions are replaced with each other to form the technical solution.

Claims

1. A secure passage method, the method comprising:

2. The method of claim 1, wherein the acquiring target obstacles within a preset distance range according to the vehicle-mounted sensor comprises:

3. The method according to claim 1 or 2, wherein the obtaining a blind area polygon of a perceptual blind area based on the target obstacle comprises:

4. The method according to claim 1 or 2, wherein the obtaining of the collision intersection point of the relation lane and the blind zone polygon comprises:

5. The method of claim 1, wherein said determining a desired speed of said host vehicle based on said target intersection comprises:

6. The method according to claim 5, characterized in that the defined condition is:

the distance from the host vehicle to the collision position at the maximum deceleration at the uniform deceleration from the first current position is the first distance;

the distance from the assumed obstacle to the first position from the target intersection point position at a constant speed is the sum of the second distance and the length of the assumed obstacle;

wherein ego _ dist _ to _ interject indicates the first distance, obj _ dist _ to _ interject indicates the second distance, obj _ length indicates the length of the assumed obstacle, ego _ expect _ vel indicates the desired speed of the host vehicle, obj _ vel indicates the speed of the assumed obstacle, ego _ max _ dec indicates the maximum deceleration of the host vehicle, ego _ max _ dec _ t indicates the time taken by the host vehicle to travel the first distance from the first current position, and obj _ t indicates the time taken by the assumed obstacle to reach the first position from the target intersection position at a uniform speed at the speed of the assumed obstacle.

7. The method according to any one of claims 5 to 6, wherein said determining a desired speed of the host vehicle from the relationship of the correlation quantities under the defined conditions comprises:

obtaining a second maximum speed limit for the host vehicle to reach the collision position based on the first distance and the time taken by the host vehicle to travel the first distance from the first current position;

8. A safe passage device, comprising:

the second determining module is used for acquiring a collision intersection point of the relation lane and the blind area polygon and determining the collision intersection point which is closest to the current lane of the vehicle as a target intersection point;

9. An electronic device, characterized in that the electronic device comprises:

one or more processors;

storage means for storing one or more programs;

when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-7.

10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-7.