CN115294764A

CN115294764A - Pedestrian crossing area determination method, device and equipment and automatic driving vehicle

Info

Publication number: CN115294764A
Application number: CN202210899432.5A
Authority: CN
Inventors: 石一伸
Original assignee: Apollo Zhilian Beijing Technology Co Ltd
Current assignee: Apollo Zhilian Beijing Technology Co Ltd; Apollo Zhixing Technology Guangzhou Co Ltd
Priority date: 2022-07-28
Filing date: 2022-07-28
Publication date: 2022-11-04
Anticipated expiration: 2042-07-28

Abstract

The disclosure provides a pedestrian crossing area determination method, a pedestrian crossing area determination device, pedestrian crossing area determination equipment and an automatic driving vehicle, relates to the field of intelligent artificial intelligence, and particularly relates to the technical fields of automatic driving, intelligent traffic and the like. The specific implementation scheme is as follows: receiving a map message set broadcast by a road side unit; acquiring the road section width of the current road section and the end point position included in a central point list from the map message set, wherein the central point list comprises a plurality of ordered position points used for fitting the central line of the road section; and determining the pedestrian crossing area of the current road section based on the end position and the road section width. The crosswalk area can be determined without a high-precision map or without the crosswalk line being worn.

Description

Pedestrian crossing area determination method, device and equipment and automatic driving vehicle

Technical Field

The present disclosure relates to the field of artificial intelligence, and in particular to the technical fields of automatic driving, intelligent transportation, etc.

Background

Automatic driving, also known as unmanned driving, refers to the self-propelled driving of a vehicle without driver operation.

Disclosure of Invention

The disclosure provides a pedestrian crossing area determination method, a pedestrian crossing area determination device, pedestrian crossing area determination equipment and an automatic driving vehicle.

According to a first aspect of the present disclosure, there is provided a pedestrian crossing area determination method, including:

receiving a map message set broadcast by a road side unit;

acquiring a road section width of a current road section and a terminal position included in a central point list from a map message set, wherein the central point list comprises a plurality of ordered position points used for fitting a road section central line;

and determining the pedestrian crossing area of the current road section based on the end position and the road section width. It is used.

According to a second aspect of the present disclosure, there is provided a crosswalk area determination apparatus including:

the receiving module is used for receiving a map message set broadcast by the road side unit;

the system comprises an acquisition module, a display module and a display module, wherein the acquisition module is used for acquiring the road section width of a current road section and the end point position included in a central point list from a map message set, and the central point list comprises a plurality of ordered position points used for fitting the central line of the road section;

and the determining module is used for determining the pedestrian crossing area of the current road section based on the end point position and the road section width.

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 content of the first and second substances,

the memory stores instructions executable by the at least one processor to cause the at least one processor to perform the method of the first aspect.

According to a fourth aspect of the present disclosure, there is provided a non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of the first aspect.

According to a fifth aspect of the present disclosure, there is provided a computer program product comprising a computer program which, when executed by a processor, implements the method of the first aspect described above.

According to a sixth aspect of the present disclosure, there is provided an autonomous vehicle comprising an electronic device as described in the third aspect above, the processor of the electronic device being capable of performing the method of the first aspect above.

It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present disclosure, nor do they limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.

Drawings

The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:

fig. 1 is a schematic diagram of a map message set composition provided by an embodiment of the present disclosure;

fig. 2 is a schematic flow chart of a pedestrian crossing area determination method according to an embodiment of the present disclosure;

FIG. 3 is a schematic view of a scene of a road side unit broadcast map message set provided by an embodiment of the present disclosure;

fig. 4 is a schematic flow chart of another pedestrian crossing area determination method provided in the embodiment of the present disclosure;

FIG. 5a is an exemplary diagram of determining a stop-line region and a crosswalk region provided by an embodiment of the disclosure;

fig. 5b is a schematic view of a scene for determining a crosswalk area according to an embodiment of the present disclosure;

fig. 6 is an exemplary flowchart of a crosswalk area determination method provided by an embodiment of the present disclosure;

fig. 7 is a schematic structural diagram of a pedestrian crossing area determining apparatus according to an embodiment of the present disclosure;

fig. 8 is a block diagram of an electronic device for implementing the crosswalk area determination method of the embodiment of the present disclosure.

Detailed Description

Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of embodiments of the present disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

In the related art, when an autonomous vehicle is driving, the position of the vehicle is mainly located by a high-precision map and a Global Navigation Satellite System (GNSS), so as to determine a pedestrian crossing area. Or the pedestrian crossing line can be identified based on a high-performance camera installed on an automatic driving vehicle and combined with a visual perception algorithm, and then the pedestrian crossing area is determined.

However, in the actual driving process of the autonomous vehicle, the road sections of some areas may not have high-precision maps or the pedestrian crossing line is worn and cannot pass through image recognition, so that the pedestrian crossing area cannot be accurately determined.

In order to facilitate understanding of the embodiments of the present disclosure, concepts related to the embodiments of the present disclosure are explained below.

The vehicle-road cooperation is the future development trend in the fields of automatic driving and intelligent transportation, cooperative sensing, cooperative computing and cooperative decision control are carried out through the mutual cooperation among vehicles, road side units and cloud control platforms, the digitization and the intellectualization of road infrastructure and traffic management can be realized, and an integrated system with deep fusion, high cooperation, safety and high efficiency can be constructed.

A set of MAP (MAP) messages in a vehicle road coordination technique are broadcast by a road side infrastructure to deliver MAP information for a local area to autonomous vehicles. The map message set includes intersection information including a local area, link information, lane information, connection relationship between roads, and the like. A single map message may include map data for multiple intersections or multiple areas.

As shown in fig. 1, fig. 1 is a schematic structural diagram of a main body of a MAP message set according to an embodiment of the present disclosure. The MAP message set specifically includes the following fields:

timeStamp, which is a timeStamp of a map message set.

msgCount, which is the number of a map message set.

nodes, refer to map nodes. Nodes are the most basic components of a map, and may be intersections or endpoints of a road segment. Two adjacent nodes with upstream and downstream relations can identify a directed road section. The links indicated by the link information contained in the map message set of a node are all taken as downstream endpoints.

Wherein, the nodes include Seq of nodes (map Node list), and the information of each Node specifically includes the following fields:

name, referring to the node name;

the ID refers to the ID of a node, and the node ID consists of a globally unique area ID and an internally unique area ID;

refPos (3D) (reference position), which is position information of a node, is minus seven power degree of 10, and the point should be selected as close to the center of the intersection as possible.

Links, a road from one node to another node is called a directed link.

Wherein, inLinks includes Seq of links (Link list), and the information of each Link specifically includes the following fields:

name (name), which is the name of the link;

upstreamNodeId (upstream node ID) representing an upstream node ID of the link;

speed limits, which represent speed limit information of a road section;

LinkWidth (link width), which represents the width of a link connecting two nodes, in centimeters;

lanes, representing Lanes included in the road section;

points (location Points), which is a list of location Points fitted to the centerline of the road segment;

movements (movement parameters) describing the connection relation between the road section and the downstream road section and the signal lamp phase ID at the local intersection corresponding to the connection.

Wherein, movements includes Seq of Movements (mobile parameter list), and the information of each Movement specifically includes the following fields:

a remoteIntersection (remote intersection) representing a downstream section exit node;

phaseId (phase ID), which represents the signal phase ID.

lanes includes Seq of Lane (Lane list), and the information of each Lane specifically includes the following fields:

laneWidth (lane width) indicating the width of the lane;

LaneID (lane ID), each lane on each directed road section has a separate ID, and the value 0 represents invalid ID;

LaneAttributes, which includes lane sharing and the class characteristics to which the lane itself belongs. The method comprises two attributes of shareWidth (shared attribute) and laneType (lane type);

maneuvers for defining the permissible steering behaviour of a (motor) lane;

a connectitsto (connection relation) which defines each lane in the road section and lists the steering connection relation between the lane in the downstream road section and the lane at the downstream road junction;

points, which represent a list of location Points that fit the centerline of the lane, all the location Points in the list being arranged in order from upstream to downstream. Points include Seq of roadpoints (road position point list), information of each point specifically includes posOffset, and posOffset represents position offset;

speedLimits, which indicate speed limit information on a lane.

The connectitsto includes a Seq of connections (Connection relation list), and information of each Connection specifically includes the following fields:

connecting lane for locating the upstream lane to turn to the connected downstream lane. The system comprises a downstream lane ID and the driving permission behavior of the steering, wherein the action range of the downstream lane ID is a road section where the lane is located;

phaseId (phase ID), which represents the signal phase ID.

Specific field definitions for the MAP message set may refer to the specification of the V2X standard protocol, which is not described in detail in the embodiments of the present disclosure.

In order to solve the above technical problem, an embodiment of the present disclosure provides a pedestrian crossing area determining method, as shown in fig. 2, the method includes:

s201, receiving a map message set broadcasted by the road side unit.

In the embodiment of the present disclosure, a Road Side Unit (RSU) is an infrastructure installed beside a Road, and the RSU may broadcast a map message set, and an autonomous vehicle traveling within a broadcast range of the RSU may receive the map message set.

As shown in fig. 3, fig. 3 is a schematic diagram of an RSU broadcast map message set according to an embodiment of the present disclosure, where 1, 2, 3, 4, 5, and 6 are intersection numbers, and L1, L1', L2, L3, L4, L5, and L6 are link numbers. The RSU is arranged beside the road section L2, the point P is a projection point of the RSU on the road section L2, the broadcasting range of the RSU is a road section covering from the starting point S1 to the covering end point E1, and a road section covering from the starting point S2 to the covering end point E2, and the automatic driving vehicle driving in the range can receive the map message set broadcasted by the RSU. The distance d1 from the coverage starting point S1 to the projection point P is the upstream road distance of the projection point P, and the distance d2 from the projection point P to the coverage end point E1 is the downstream road distance of the projection point P.

The map message set broadcast by the RSU may include road information for a plurality of regions.

S202, acquiring the link width of the current link and the end point position included in the center point list from the map message set.

Wherein the center point list comprises an ordered plurality of location points for fitting the road segment centerline.

And S203, determining the pedestrian crossing area of the current road section based on the end position and the road section width.

By adopting the embodiment of the disclosure, the automatic driving vehicle can receive the map message set broadcast by the road side unit, acquire the road section width of the current road section and the end point position included in the central point list from the map message set, and determine the pedestrian crossing area of the current road section based on the end point position and the road section width; the process does not need to use a high-precision map or identify the pedestrian crossing line, and the automatic driving vehicle can accurately determine the pedestrian crossing area by using the map message set.

In connection with the MAP message set shown in fig. 1, in the above-described S202, the value of the linkwidth field in the Link field identifying the current Link section and the value of the last position point in the Points field may be acquired from the MAP message set. The value of the linkwidth field is the road section width of the current road section, the Points field comprises the central point list, and the last position point in the central point list is the position of the terminal point of the current road section.

In this way, the link width and the end position of the link can be acquired through the MAP message set, and the position of the crosswalk can be determined through the link width and the end position of the link without a high-precision MAP or a road stop line being worn.

In another embodiment of the present disclosure, the autonomous vehicle may further determine a stop line, and according to the traffic rule, the autonomous vehicle may stop before the stop line, and after obtaining the link width of the current link and the end position included in the center point list from the map message set at S202, as shown in fig. 4, the method further includes:

s401, taking the end point position as a stop line of the current road section and enabling the end point position to be close to the edge center point of one side of the pedestrian crossing.

As an example, as shown in fig. 5a, the position points included in the center point list are the position points used for fitting the center line of the lane 2 in fig. 5a, and the last position point in the center point list is point a, that is, point a is the end point position. Point a may be taken as the edge center point of the stop-line.

S402, based on the edge center point, taking the road section width as the length of the stop line, taking the first preset value as the width of the stop line, and determining the area of the stop line.

Wherein the first preset value may be set according to a standard of a road stop line, for example, the first preset value may be set to 40cm.

After determining the center point of the edge of the stop-line, the length and the width of the stop-line, the area of the stop-line can be determined, as shown in fig. 5 a. Optionally, in the embodiments of the present disclosure, the stop-line may be drawn based on the area of the stop-line to simulate real road conditions.

In one implementation, an edge of the stop line may be determined by taking the edge center point (e.g., point a) as the line segment midpoint and the road segment width as the length of the line segment. And the position point at the first preset value from the edge center point can be taken as the edge center point of one side of the stop line far away from the crosswalk, namely the point B in fig. 5a, along the opposite direction of the lane direction. And then, taking the point B as the middle point of the line segment, and taking the road section width as the length of the line segment to determine the other side of the stop line. Connecting the end points of the two sides to obtain a rectangular area, and determining the rectangular area as a stop line area.

By adopting the embodiment of the disclosure, the end point position is the end point of the central line of the road section, so that the end point position can be used as the edge central point of one side of the stop line close to the crosswalk of the current road section, the road section width is used as the length of the stop line based on the edge central point, the first preset value is used as the width of the stop line, and the area of the stop line is determined. Therefore, the area of the stop line can be accurately determined under the condition that no high-precision map exists or the stop line is worn, so that the automatic driving vehicle can conveniently make a safe automatic driving strategy based on the stop line.

In another embodiment of the present disclosure, in step S203, the pedestrian crossing area of the current road segment is determined based on the end position and the road segment width, which may be specifically implemented as:

acquiring the number of lanes included in a current road section; under the condition that the number of the lanes is more than or equal to 2, taking a position point which is a first distance away from the end point position along the lane direction of the current road section as a center point of the edge of the crosswalk close to one side of the stop line; determining a pedestrian crossing area by taking the road section width as the length of the pedestrian crossing and taking the second preset value as the width of the pedestrian crossing based on the central point of the edge of the pedestrian crossing; alternatively, the first and second liquid crystal display panels may be,

under the condition that the number of lanes is less than 2, taking a position point which is a second distance away from the end point position along the lane direction of the current road section as the center point of the edge of the pedestrian crossing close to one side of the stop line; and determining a pedestrian crossing area by taking the road section width as the length of the pedestrian crossing and taking the second preset value as the width of the pedestrian crossing based on the central point of the edge of the pedestrian crossing.

The number of lanes of the current road section is the ratio of the road section width of the current road section to the lane width. The lane width is a value of a lanewadth field included in a link field in a map message set.

The lane direction of the current road section is determined in the following mode: acquiring the position of an upstream node and the position of a downstream node of a current road section from a map message set; and taking the position direction from the upstream node to the downstream node as the lane direction of the current road section.

In conjunction with the map message set shown in fig. 1, the value of the refPos (3D) field of the map message set may be obtained, thereby obtaining the location of the downstream node. And the ID of the upstream node can be obtained from the upstreamNodeId field of the link information, the map message set of the upstream node is obtained based on the ID of the upstream node, and the position of the upstream node is obtained from the refPos (3D) field of the map message set of the upstream node.

The value of the refPos (3D) field may be longitude and latitude information, and based on the longitude and latitude of the two nodes, a direction from the upstream node to the downstream node may be determined, where the direction is a lane direction of the current road segment.

Therefore, the lane direction of the current road section can be determined according to the map message set, and the direction of the crosswalk can be determined based on the lane direction under the condition that no high-precision map or crosswalk abrasion exists.

The first distance, the second distance, and the second preset value may be set according to a road standard. For example, the first distance may be set to 3m, the second distance may be set to 1m, and the second preset value may be set to 3m.

Still taking fig. 5a as an example, if the number of lanes in fig. 5a is greater than 2, the position point (point C) at 3m from the end point position (point a) along the lane direction can be used as the center point of the edge of the crosswalk near the stop line.

After the edge center point of the crosswalk, the length and the width of the crosswalk are determined, the area of the crosswalk can be determined. Optionally, in the embodiment of the present disclosure, the pedestrian crossing may be drawn based on an area of the pedestrian crossing to simulate a real road condition.

In one implementation, an edge of the crosswalk region may be determined by using an edge center point (point C) of the crosswalk as a line segment midpoint and using the length of the crosswalk as the length of the line segment. And a position point (point D) at a second preset value from the edge center point (point C) of the crosswalk may be taken as the edge center point of the other side of the crosswalk region in the lane direction. And then, taking the point D as the middle point of the line segment, taking the length of the pedestrian crossing as the length of the line segment, and determining the other side of the pedestrian crossing area. And connecting the end points of the two sides to obtain a rectangular area, and taking the rectangular area as a pedestrian crossing area.

Optionally, after the stop line and the pedestrian crossing area of one road section are obtained, translation and/or rotation operations may be performed on the determined stop line and pedestrian crossing area according to the road information, so as to determine the stop line and pedestrian crossing area of other road sections of the same intersection.

As shown in fig. 5b, fig. 5b is an exemplary scene diagram for determining a pedestrian crossing area according to an embodiment of the disclosure, and an intersection a is taken as an example in fig. 5b for explanation. Wherein, the lane a and the lane d are respectively a right-turn lane and a left-turn lane, and the lane c and the lane b are straight lanes. Stop lines and crosswalk regions of road segments to which the lane 1, the lane 2, and the lane 3 belong may be determined in the manner described in the above embodiment. And further, determining the stop lines and the pedestrian crossing areas of other road sections in a translation and rotation mode based on the standard size of the intersection.

By adopting the embodiment of the disclosure, the distance between the edge center point of the pedestrian crossing and the road section end point position can be determined according to the number of lanes of the current road section by acquiring the number of lanes of the current road section, which is equivalent to determining the position of the edge of the pedestrian crossing, and then the pedestrian crossing area can be determined according to the road section width and the second preset value. The process does not need to use a high-precision map and the image of the pedestrian crossing shot by the camera, and the pedestrian crossing area can be determined under the condition that no high-precision map or pedestrian crossing line is worn.

Fig. 6 is an exemplary flowchart of the driving decision of the autonomous vehicle according to the embodiment of the disclosure, as shown in fig. 6, and the following description is made with reference to fig. 6.

S601, the road side unit RSU broadcasts a map message set.

S602, the automatic driving vehicle receives and analyzes the map message set, and data of Points, nodes, links, lanes and the like of the current road section are obtained.

And acquiring the end point position of the current road section from Points, determining the lane direction of the current road section according to the upstream node position and the downstream node position of the current road section, and acquiring the road section width (linkWidth) and the lane width (lanewadth).

S603, determining a stop line according to the end position in the Points.

The manner of determining the stop line is the same as that of determining the stop line in the above embodiment, and reference may be made to the description in the above embodiment, which is not repeated herein.

After S603, S604 and S607 may be performed.

S604, judging whether the number of the lanes is more than or equal to 2.

The number of lanes equals the road segment width divided by the lane width.

If yes, go to step S605; if not, S606 is executed.

And S605, determining a pedestrian crossing area at a position 3 meters away from the end point.

And S606, determining a pedestrian crossing area at a position 1 meter away from the end point.

The manner of determining the pedestrian crossing area in S605 and S606 is the same as that of determining the pedestrian crossing area in the above embodiment, and reference may be made to the description in the above embodiment, and details are not repeated here.

And S607, making a driving strategy according to the stop line and the pedestrian crossing area.

By adopting the technical scheme provided by the embodiment of the disclosure, the automatic driving vehicle can intensively acquire the terminal position of the current road section from the map message according to the map message sent by the road side unit, determine the stop line and the pedestrian crossing area according to the terminal position, and formulate the driving strategy of the automatic driving vehicle. Compared with the scheme of identifying the pedestrian crossing line by relying on a high-precision map or visual perception in the prior art, the technical scheme provided by the embodiment of the disclosure can determine the pedestrian crossing area in the road section without the high-precision map, and meanwhile, does not need to rely on a camera mounted on an automatic driving vehicle to visually perceive and identify the pedestrian crossing line, namely, the pedestrian crossing area can be determined under the condition that the vehicle does not have a high-performance camera and a perception algorithm, or the pedestrian crossing line is worn, so that the vehicle can be assisted to specify a driving strategy.

Based on the same inventive concept, the disclosed embodiments also provide a pedestrian crossing area determination apparatus, as shown in fig. 7, the apparatus includes:

a receiving module 701, configured to receive a map message set broadcast by a road side unit;

an obtaining module 702, configured to obtain, from a map message set, a road segment width of a current road segment and a terminal position included in a center point list, where the center point list includes a plurality of ordered position points for fitting a center line of the road segment;

the determining module 703 is configured to determine a pedestrian crossing area of the current road segment based on the end point position and the road segment width.

Optionally, the determining module 703 is further configured to:

taking the end point position as the edge central point of the stopping line of the current road section, which is close to one side of the pedestrian crossing;

and determining the area of the stop line by taking the road section width as the length of the stop line and the first preset value as the width of the stop line based on the edge center point.

Optionally, the determined module 703 is specifically configured to:

acquiring the number of lanes included in a current road section;

under the condition that the number of lanes is more than or equal to 2, taking a position point which is in the lane direction of the current road section and is a first distance away from the end point position as the center point of the edge of the crosswalk close to one side of the stop line; determining a pedestrian crossing area by taking the road section width as the length of the pedestrian crossing and taking the second preset value as the width of the pedestrian crossing based on the central point of the edge of the pedestrian crossing; alternatively, the first and second electrodes may be,

under the condition that the number of the lanes is less than 2, taking a position point which is a second distance away from the end point position along the lane direction of the current road section as a center point of the edge of the crosswalk close to one side of the stop line; and determining the pedestrian crossing area by taking the road section width as the length of the pedestrian crossing and taking the second preset value as the width of the pedestrian crossing based on the central point of the edge of the pedestrian crossing.

Optionally, the obtaining module 702 is further configured to:

acquiring the position of an upstream node and the position of a downstream node of a current road section from a map message set;

and taking the position direction from the upstream node to the downstream node as the lane direction of the current road section.

Optionally, the obtaining module 702 is specifically configured to:

and acquiring the value of a linkwidth field in a Link field for marking the current road section and the value of the last position point in a Points field from the map message set, wherein the Points field comprises a center point list.

In the technical scheme of the disclosure, the collection, storage, use, processing, transmission, provision, disclosure and other processing of the related map message sets meet the regulations of related laws and regulations and do not violate common customs.

It should be noted that the map message set in the present embodiment is derived from the public data set.

The present disclosure also provides an electronic device, a readable storage medium, and a computer program product according to embodiments of the present disclosure.

FIG. 8 illustrates a schematic block diagram of an example electronic device 800 that can be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic devices may also represent various forms of mobile devices, such as personal digital processors, cellular telephones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the disclosure described and/or claimed herein.

As shown in fig. 8, the apparatus 800 includes a computing unit 801 that can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM) 802 or a computer program loaded from a storage unit 808 into a Random Access Memory (RAM) 803. In the RAM 803, various programs and data required for the operation of the device 800 can also be stored. The calculation unit 801, the ROM 802, and the RAM 803 are connected to each other by a bus 804. An input/output (I/O) interface 805 is also connected to bus 804.

A number of components in the device 800 are connected to the I/O interface 805, including: an input unit 806, such as a keyboard, a mouse, or the like; an output unit 807 such as various types of displays, speakers, and the like; a storage unit 808, such as a magnetic disk, optical disk, or the like; and a communication unit 809 such as a network card, modem, wireless communication transceiver, etc. The communication unit 809 allows the device 800 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.

Computing unit 801 may be a variety of general and/or special purpose processing components with processing and computing capabilities. Some examples of the computing unit 801 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and the like. The calculation unit 801 executes the respective methods and processes described above, such as the crosswalk area determination method. For example, in some embodiments, the crosswalk area determination method may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as storage unit 808. In some embodiments, part or all of a computer program may be loaded onto and/or installed onto device 800 via ROM 802 and/or communications unit 809. When the computer program is loaded into RAM 803 and executed by computing unit 801, one or more steps of the crosswalk area determination method described above may be performed. Alternatively, in other embodiments, the computing unit 801 may be configured to perform the crosswalk region determination method in any other suitable manner (e.g., by means of firmware).

The disclosed embodiment also provides an automatic driving vehicle, which comprises the electronic equipment, and a processor of the electronic equipment can execute the method steps in the method embodiment.

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system on a chip (SOCs), complex Programmable Logic Devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user may provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), and the Internet.

The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server with a combined blockchain.

It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present disclosure may be executed in parallel, sequentially or in different orders, and are not limited herein as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved.

The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A crosswalk area determination method includes:

receiving a map message set broadcast by a road side unit;

acquiring the road section width of the current road section and the end point position included in a central point list from a map message set, wherein the central point list comprises a plurality of ordered position points used for fitting the central line of the road section;

and determining the pedestrian crossing area of the current road section based on the end position and the road section width.

2. The method of claim 1, after obtaining the end position included in the center point column of the current road segment from the map message set, the method further comprising:

taking the terminal position as a stopping line of the current road section and an edge central point close to one side of the pedestrian crossing;

and determining the area of the stop line by taking the road section width as the length of the stop line and taking a first preset value as the width of the stop line based on the edge center point.

3. The method of claim 1 or 2, wherein the determining a crosswalk area for the current road segment based on the end position and a road segment width comprises:

acquiring the number of lanes included in the current road section;

under the condition that the number of the lanes is more than or equal to 2, taking a position point which is a first distance away from the end point position along the lane direction of the current road section as a center point of the edge of the pedestrian crossing close to one side of the stop line; based on the center point of the edge of the crosswalk, taking the width of the road section as the length of the crosswalk, taking a second preset value as the width of the crosswalk, and determining the crosswalk area; alternatively, the first and second liquid crystal display panels may be,

under the condition that the number of the lanes is less than 2, taking a position point which is a second distance away from the end point position along the lane direction of the current road section as a center point of the edge of the pedestrian crossing close to one side of the stop line; and determining the pedestrian crossing area by taking the road section width as the length of the pedestrian crossing and taking a second preset value as the width of the pedestrian crossing based on the central point of the edge of the pedestrian crossing.

4. The method of claim 3, further comprising, prior to the determining a crosswalk area for the current road segment based on the end location and a road segment width:

acquiring the position of an upstream node and the position of a downstream node of the current road section from the map message set;

5. The method of claim 1, wherein the obtaining of the link width of the current link and the end position included in the center point list from the map message set comprises:

and acquiring the value of a linkwidth field in a Link field for marking the current road section and the value of the last position point in a Points field from the map message set, wherein the Points field comprises the center point list.

6. A crosswalk area determination device comprising:

7. The apparatus of claim 6, the determination module further configured to:

taking the terminal position as the edge central point of one side of the pedestrian crossing on the stop line of the current road section;

8. The apparatus of claim 6 or 7, wherein the means for determining is specifically configured to:

acquiring the number of lanes included in the current road section;

under the condition that the number of the lanes is less than 2, taking a position point which is a second distance away from the end point position along the lane direction of the current road section as a center point of the edge of the pedestrian crossing close to one side of the stop line; and based on the center point of the edge of the crosswalk, taking the width of the road section as the length of the crosswalk, taking a second preset value as the width of the crosswalk, and determining the crosswalk area.

9. The apparatus of claim 8, the means for obtaining further configured to:

10. The apparatus according to claim 6, wherein the obtaining module is specifically configured to:

11. An electronic device, comprising:

at least one processor; and

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 1-5.

12. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-5.

13. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any one of claims 1-5.

14. An autonomous vehicle comprising an electronic device according to claim 11, a processor of the electronic device being capable of performing the method of any of claims 1-5.