CN115294764B - Crosswalk area determination method, crosswalk area determination device, crosswalk area determination equipment and automatic driving vehicle - Google Patents
Crosswalk area determination method, crosswalk area determination device, crosswalk area determination equipment and automatic driving vehicle Download PDFInfo
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Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096783—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
- G08G1/096811—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route where the route is computed offboard
Abstract
The disclosure provides a crosswalk area determining method, a crosswalk area determining device, crosswalk area determining equipment and an automatic driving vehicle, relates to the field of intelligent 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 width of the current road section and the end position included in a center point list from the map message set, wherein the center point list comprises a plurality of orderly position points for fitting the center line of the road section; and determining the crosswalk area of the current road section based on the terminal position and the road section width. The crosswalk region can be determined without high-precision maps or worn crosswalk lines.
Description
Technical Field
The present disclosure relates to the field of artificial intelligence, and in particular, to the technical fields of autopilot, intelligent transportation, and the like.
Background
Autopilot, also known as unmanned, refers to the fact that a vehicle is driven by itself without driver operation.
Disclosure of Invention
The disclosure provides a crosswalk area determination method, a crosswalk area determination device, crosswalk area determination equipment and an automatic driving vehicle.
According to a first aspect of the present disclosure, there is provided a crosswalk region determination method, including:
receiving a map message set broadcast by a road side unit;
acquiring the road width of the current road section and the end position included in a center point list from the map message set, wherein the center point list comprises a plurality of ordered position points for fitting the center line of the road section;
and determining the pedestrian crossing area of the current road section based on the terminal position and the road section width. And (3) the method.
According to a second aspect of the present disclosure, there is provided a crosswalk region determination apparatus comprising:
the receiving module is used for receiving the map message set broadcasted by the road side unit;
the system comprises an acquisition module, a map message collection module and a central point list, wherein the acquisition module is used for acquiring the road section width of the current road section and the end point position included in the central point list, and the central point list comprises a plurality of orderly position points for fitting the central line of the road section;
and the determining module is used for determining the crosswalk area of the current road section based on the end 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 memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of the first aspect described above.
According to a fourth aspect of the present disclosure, there is provided a non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method of the first aspect described above.
According to a fifth aspect of the present disclosure, there is provided a computer program product comprising a computer program which, when executed by a processor, implements 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 as described in the first aspect above.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the disclosure, nor is it intended to be used to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following specification.
Drawings
The drawings are for a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:
FIG. 1 is a schematic diagram of a map message set composition provided by an embodiment of the present disclosure;
fig. 2 is a schematic flow chart of a crosswalk area determining method according to an embodiment of the present disclosure;
fig. 3 is a schematic view of a scenario in which a road side unit broadcasts a map message set provided in an embodiment of the present disclosure;
FIG. 4 is a flow chart of another crosswalk region determination method provided by an embodiment of the present disclosure;
FIG. 5a is an exemplary schematic diagram of determining stop line areas and crosswalk areas provided by embodiments of the present disclosure;
FIG. 5b is a schematic view of a scenario for determining a crosswalk region provided by an embodiment of the present disclosure;
FIG. 6 is an exemplary flow chart of a crosswalk region determination method provided by an embodiment of the present disclosure;
fig. 7 is a schematic structural view of a crosswalk area determining apparatus according to an embodiment of the present disclosure;
fig. 8 is a block diagram of an electronic device for implementing a crosswalk region determination method of an embodiment of the present disclosure.
Detailed Description
Exemplary embodiments of the present disclosure are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding, and should be considered as merely exemplary. Accordingly, one of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
In the related art, an autonomous vehicle mainly relies on a high-precision map and a global navigation satellite system (Global Navigation Satellite System, GNSS) to locate a vehicle position during driving, thereby determining a crosswalk region. Or the pedestrian crossing line can be identified based on a high-performance camera installed on the automatic driving vehicle and combined with a visual perception algorithm, so that the pedestrian crossing area is determined.
However, in the actual running process of the automatic driving vehicle, the road sections of some areas may not have a high-precision map or the pedestrian crossing lines are worn out and cannot be identified through images, so that the pedestrian crossing areas 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 described below.
The vehicle-road cooperation is a future development trend in the fields of automatic driving and intelligent traffic, and through mutual cooperation among vehicles, road side units and cloud control platforms, cooperative sensing, cooperative calculation and cooperative decision control are carried out, so that the digitalization 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 MAP (MAP) message set in the vehicular-road cooperation technique is broadcast by a road-side infrastructure to deliver MAP information of a local area to an autonomous vehicle. The map message set includes intersection information including a local area, link information, connection relationship between lane information and a road, 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 body structure of a MAP message set provided in an embodiment of the present disclosure. The MAP message set specifically includes the following fields:
time stamp, the timeStamp of the map message set.
msgCount (message number), which is the number of the map message set.
nodes refer to map nodes. The nodes are the most basic components of the map, and can be intersections or end points of a road section. Two adjacent nodes with upstream and downstream relationships may identify a directed road segment. And the road segments indicated by the road segment information contained in the map message set of one node are all taken as downstream endpoints.
The nodes include a Seq of Node (map Node list), and the information of each Node specifically includes the following fields:
name, finger node name;
ID, which refers to the ID of a node, which consists of a globally unique region ID and a region internally unique ID;
refPos (3D) (reference position), which is the position information of a node, is given by a unit of minus seven degrees of 10, and the node should be selected as close as possible to the center of the intersection.
An inLinks (road segment), a road from one node to another adjacent node, is referred to as a directed road segment.
The inLinks include a Seq of Link (road segment list), and the information of each road segment specifically includes the following fields:
name, which is the name of the road section;
upstream nodeid (upstream node ID) representing the upstream node ID of a link;
speed limits, which represent speed limit information of a road section;
LinkWidth (road segment width), which represents the width of a road segment connected between two nodes, in centimeters;
lanes (Lanes) representing Lanes included in the road section;
points (position Points) are a list of position Points fitting the center line of the road section;
movement parameters describe the connection relationship between a link and a downstream link, and the phase ID of the signal lamp at the local intersection to which the connection corresponds.
Wherein the Movements comprise the Seq of Movements (list of Movement parameters), the information of each Movement specifically comprises the following fields:
remoteInterselect (distant intersection), representing a downstream link exit node;
phaseId (phase ID) represents the traffic light phase ID.
Lanes includes the Seq of Lane (Lane list), and the information of each Lane specifically includes the following fields:
LaneWidth (lane width), which indicates the width of the lane;
laneID (lane ID), each lane on each directed road segment having a separate ID, a value of 0 indicating an invalid ID;
LaneAttributes, which include the sharing of lanes and the class characteristics to which the lanes themselves belong. Contains two attributes of sharehold (shared attribute) and laneType (lane type);
maneuvers for defining the steering behaviour allowed for a (motor vehicle) lane;
connection to defines a steering connection list of each lane in a road section and lanes in a downstream road section at a downstream intersection;
points (position Points) represent a list of position Points fitting the center line of the lane, all of the position Points in the list being arranged in the order from upstream to downstream. Points include the Seq of RoadPoint (road position list), and information of each point specifically includes posOffset, which represents a position offset;
speed limits, which represent speed limit information on a lane.
Wherein connectisto includes Seq of Connection (Connection list), and the information of each Connection specifically includes the following fields:
remoteInterselect (distant intersection), representing a downstream link exit node;
connectingLane (connecting lane) for locating the downstream lane of an upstream lane turn connection. The method comprises a downstream lane ID and the steering allowed driving behavior, wherein the action range of the downstream lane ID is the road section where the lane is located;
phaseId (phase ID) represents the traffic light phase ID.
Specific field definitions for the MAP message set may refer to the provision of the V2X standard protocol and will not be described in detail in the embodiments of the present disclosure.
In order to solve the above technical problems, an embodiment of the present disclosure provides a crosswalk area determining method, as shown in fig. 2, including:
s201, receiving a map message set broadcasted by a road side unit.
In the embodiment of the disclosure, a Road Side Unit (RSU) is an infrastructure disposed beside a Road, the RSU may broadcast a map message set, and an autonomous vehicle running within the 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 provided in 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 road segment numbers. The RSU is set beside the road section L2, the P point is the projection point of the RSU on the road section L2, the broadcasting range of the RSU is the road section between the coverage starting point S1 and the coverage destination E1, and the road section between the coverage starting point S2 and the coverage destination E2, and the autonomous vehicle running in the range can receive the map message set broadcasted by the RSU. The distance d1 between the coverage start point S1 and the projection point P is the upstream road distance of the projection point P, and the distance d2 between the projection point P and 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 of a plurality of areas.
S202, acquiring the road width of the current road and the end position included in the center point list from the map message set.
Wherein the center point list includes a plurality of ordered location points for fitting to the road segment center line.
S203, determining a crosswalk area of the current road section based on the terminal position and the road section width.
By adopting the embodiment of the disclosure, the automatic driving vehicle can receive the map message set broadcasted by the road side unit, acquire the road section width of the current road section and the end position included in the center point list from the map message set, and determine the pedestrian crossing area of the current road section based on the end position and the road section width; the process does not need to use a high-precision map or identify the crosswalk line, and the automatic driving vehicle can accurately determine the crosswalk region by using the map message set.
In connection with the MAP message set shown in fig. 1, in S202 described above, the value of the Link field in the Link field identifying the current Link and the value of the last location point in the Points field may be acquired from the MAP message set. The link field has a value of the link width of the current link, and the Points field includes the center point list, where the last position point in the center point list is the position of the end point of the current link.
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 wearing a high-precision MAP or a road stop line.
In another embodiment of the present disclosure, the autonomous vehicle may further determine a stop line, and according to traffic rules, the autonomous vehicle may stop before the stop line, and after the step S202 of acquiring the road segment width of the current road segment from the map message set and the end point position included in the center point list, as shown in fig. 4, the method further includes:
s401, taking the end position as a stop line of the current road section, and approaching to the edge center point of one side of the crosswalk.
As an example, as shown in fig. 5a, the position points included in the center point list are the position points for fitting the center line of the lane 2 in fig. 5a, and the last position point in the center point list is the point a, that is, the point a is the end position. Point a may be taken as the edge center point of the stop line.
S402, determining the area of the stop line by taking the road section width as the length of the stop line and taking the first preset value as the width of the stop line based on the edge center point.
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 edge center point of the stop line, the length and width of the stop line, the stop line area can be determined, as shown in fig. 5 a. Alternatively, in embodiments of the present disclosure, a stop line may be drawn based on the region of the stop line to simulate a real road situation.
In one implementation, an edge center point (e.g., point a) may be used as a line segment midpoint, and a segment width may be used as a length of the line segment to determine an edge of the stop line. And a position point at a first preset value from the edge center point can be taken as the edge center point of the stop line on the side far from the crosswalk, i.e. the point B in fig. 5a, in the opposite direction of the lane direction. And then taking the point B as the midpoint of the line segment, taking the width of the road segment as the length of the line segment, and determining the other side of the stop line. And 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, since the end point position is the end point of the central line of the road section, the end point position can be used as the stop line of the current road section, the edge central point close to one side of the crosswalk is used as the length of the stop line based on the edge central point, the road section width is used as the width of the stop line, and the first preset value is used as the width of the stop line, so that the area of the stop line is determined. In this way, the area of the stop line can be accurately determined without a high-precision map or the stop line is worn, so that the automatic driving vehicle can formulate a safe automatic driving strategy based on the stop line.
In another embodiment of the present disclosure, the determining the crosswalk area of the current road section based on the end position and the road section width in S203 may be specifically implemented as:
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 a first distance away from the end point position along the lane direction of the current road section as a center point of the crosswalk edge on one side close to the stop line; based on a crosswalk edge center point, taking the road section width as the length of a crosswalk, taking a second preset value as the width of the crosswalk, and determining a crosswalk area; or,
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 position along the lane direction of the current road section as a center point of the crosswalk edge on one side close to the stop line; and determining a crosswalk area by taking the road section width as the length of the crosswalk and the second preset value as the width of the crosswalk based on the center point of the crosswalk edge.
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 lanehold field included in the link field in the map message set.
The lane direction of the current road section is determined in the following manner: acquiring the position of an upstream node and the position of a downstream node of the current road section from the map message set; and taking the direction from the position of the upstream node to the position of the downstream node as the lane direction of the current road section.
In connection 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 upstream NodeId field of the road section information, then 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 two nodes, a direction from an upstream node to a downstream node may be determined, where the direction is a lane direction of the current road section.
Thus, 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 without high-precision map or crosswalk abrasion.
The first distance, the second distance and the second preset value may be set according to road standards. 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, a position point (point C) 3m from the end point (point a) in the lane direction may be regarded as the center point of the edge of the crosswalk on the side close to the stop line.
After the edge center point of the crosswalk and the length and width of the crosswalk are determined, the area of the crosswalk can be determined. Optionally, in the embodiment of the disclosure, a crosswalk may be drawn based on the area of the crosswalk to simulate a real road situation.
In one implementation, a center point (point C) of an edge of the crosswalk may be taken as a midpoint of a line segment, and a length of the crosswalk may be taken as a length of the line segment, so as to determine an edge of the crosswalk region. 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 midpoint of the line segment, taking the length of the crosswalk as the length of the line segment, and determining the other side of the crosswalk region. And connecting the end points of the two sides to obtain a rectangular area, and taking the rectangular area as a crosswalk area.
Optionally, after obtaining the stop line and the crosswalk area of one road section, the determined stop line and crosswalk area may be subjected to translational and/or rotational operation according to road information, so as to determine the stop line and the crosswalk area of other road sections at the same intersection.
As shown in fig. 5b, fig. 5b is an exemplary scene diagram for determining a crosswalk area according to an embodiment of the present disclosure, and fig. 5b illustrates an intersection a as an example. The lane a and the lane d are respectively right-turn and left-turn lanes, and the lane c and the lane b are straight lanes. The stop lines and the crosswalk areas of the road sections to which the lanes 1, 2, and 3 belong can be determined in the manner described in the above embodiment. Further, based on the standard size of the intersection, the stop line and the crosswalk area of the other road section are determined in a translational and rotational mode.
By adopting the embodiment of the disclosure, the distance between the edge center point of the crosswalk 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 crosswalk edge, and further, the crosswalk area can be determined according to the road section width and the second preset value. The process can determine the pedestrian crossing area without using a high-precision map or the wearing of the pedestrian crossing line without using the high-precision map and the image of the pedestrian crossing shot by the camera.
As shown in fig. 6, fig. 6 is an exemplary flowchart of an autonomous vehicle driving decision provided by an embodiment of the present disclosure, described below in connection with fig. 6.
S601, a road side unit RSU broadcasts a map message set.
S602, the automatic driving vehicle receives and analyzes the map message set, and acquires the data of Points, nodes, links, lanes (Lane) and the like of the current road section.
The final position of the current link is obtained from Points, the lane direction of the current link is determined according to the upstream node position and the downstream node position of the current link, and the link width (link width) and the lane width (lane width) are obtained.
S603, determining a stop line according to the end point position in the Points.
The manner of determining the stop line is identical to that of determining the stop line in the above-described embodiment, and reference may be made to the description of the above-described embodiment, which is not repeated here.
After S603, S604 and S607 may be performed.
S604, judging whether the number of lanes is more than or equal to 2.
The number of lanes equals the road segment width divided by the lane width.
If yes, executing S605; and if not, executing S606.
S605, determining a crosswalk region at a position 3m away from the end position.
S606, determining a crosswalk region at a position 1m away from the end position.
The manner of determining the crosswalk region in S605 and S606 is identical to that of the above embodiment, and reference may be made to the description of the above embodiment, which is not repeated here.
S607, according to the stop line and the crosswalk area, a driving strategy is formulated.
By adopting the technical scheme provided by the embodiment of the disclosure, the automatic driving vehicle can acquire the end position of the current road section from the map message set according to the map message sent by the road side unit, determine the stop line and the crosswalk area according to the end position, and formulate the driving strategy obtained by the automatic driving vehicle. Compared with the scheme of identifying the pedestrian crossing line by relying on a high-precision map or visual sense in the prior art, the technical scheme provided by the embodiment of the disclosure can determine the pedestrian crossing region on a road section without the high-precision map, and does not depend on a camera installed on an automatic driving vehicle to perform visual sense identification on the pedestrian crossing line, namely, the pedestrian crossing region can be determined under the condition that the vehicle does not have a high-performance camera and does not have a sensing algorithm or the pedestrian crossing line is worn, so that the vehicle is assisted in specifying a driving strategy.
Based on the same inventive concept, the embodiment of the present disclosure further provides a crosswalk area determining apparatus, as shown in fig. 7, including:
a receiving module 701, configured to receive a map message set broadcasted by a road side unit;
an obtaining module 702, configured to obtain, from a map message set, a road width of a current road segment and an end 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;
a determining module 703, configured to determine a crosswalk area of the current road section based on the destination location and the road section width.
Optionally, the determining module 703 is further configured to:
taking the end position as a stop line of the current road section, and approaching to the edge center point of one side of the crosswalk;
and determining the area of the stop line by taking the road section width as the length of the stop line and taking the first preset value as the width of the stop line based on the edge center point.
Optionally, the determining 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 a first distance away from the end point position along the lane direction of the current road section as a center point of the crosswalk edge on one side close to the stop line; based on a crosswalk edge center point, taking the road section width as the length of a crosswalk, taking a second preset value as the width of the crosswalk, and determining a crosswalk area; or,
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 position along the lane direction of the current road section as a center point of the crosswalk edge on one side close to the stop line; and determining a crosswalk area by taking the road section width as the length of the crosswalk and the second preset value as the width of the crosswalk based on the center point of the crosswalk edge.
Optionally, the obtaining module 702 is further configured to:
acquiring the position of an upstream node and the position of a downstream node of the current road section from the map message set;
and taking the direction from the position of the upstream node to the position of the downstream node as the lane direction of the current road section.
Optionally, the obtaining module 702 is specifically configured to:
the value of the Link field in the Link field identifying the current road segment and the value of the last location point in the Points field including the center point list are acquired from the map message set.
In the technical scheme of the disclosure, the related processes of collecting, storing, using, processing, transmitting, providing, disclosing and the like of the map message set accord with the regulations of related laws and regulations, and the public order is not violated.
It should be noted that, the map message set in this embodiment is derived from the public data set.
According to embodiments of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium and a computer program product.
Fig. 8 illustrates a schematic block diagram of an example electronic device 800 that may be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the disclosure described and/or claimed herein.
As shown in fig. 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 computing 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 the bus 804.
Various components in device 800 are connected to I/O interface 805, including: an input unit 806 such as a keyboard, mouse, etc.; 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, etc.; and a communication unit 809, such as a network card, modem, wireless communication transceiver, or the like. 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.
The computing unit 801 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of computing unit 801 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, etc. The calculation unit 801 performs the respective methods and processes described above, such as the crosswalk region determination method. For example, in some embodiments, the crosswalk region determination method may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as the storage unit 808. In some embodiments, part or all of the computer program may be loaded and/or installed onto device 800 via ROM 802 and/or communication unit 809. When a computer program is loaded into RAM 803 and executed by computing unit 801, one or more steps of the crosswalk region 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 by any other suitable means (e.g., by means of firmware).
The embodiment of the disclosure also provides an automatic driving vehicle, which comprises the electronic device, and the processor of the electronic device can execute the method steps in the embodiment of the method.
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), complex Programmable Logic Devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
Program code for carrying out methods of the present disclosure may be written in any combination of one or more programming languages. These program code may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus such that the program code, when executed by the processor or controller, causes the functions/operations specified in the flowchart and/or block diagram to be implemented. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and pointing device (e.g., a mouse or trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), and the internet.
The computer system may include a client and a server. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server incorporating a blockchain.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps recited in the present disclosure may be performed in parallel, sequentially, or in a different order, provided that the desired results of the disclosed aspects are achieved, and are not limited herein.
The above detailed description should not be taken as limiting the scope of the present disclosure. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present disclosure are intended to be included within the scope of the present disclosure.
Claims (13)
1. A crosswalk region determination method comprising:
receiving a map message set broadcast by a road side unit;
acquiring the road section width of a current road section and the end positions included in a center point list from a map message set, wherein the center point list comprises a plurality of orderly position points used for fitting the center line of the road section, the current road section is a directed road section, and the distances between the position points included in the center point list and the two sides of the current road section are equal;
and determining the pedestrian crossing area of the current road section based on the terminal position and the road section width.
2. The method of claim 1, after acquiring 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 end position as a stop line of the current road section, and approaching to the edge center point of one side of the crosswalk;
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 according to claim 1 or 2, wherein the determining a crosswalk area of the current road section based on the end position and road section 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 position along the lane direction of the current road section as a center point of the crosswalk edge on one side close to the stop line; based on the crosswalk edge center point, taking the road section width as the length of the crosswalk, taking a second preset value as the width of the crosswalk, and determining the crosswalk area; or,
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 position along the lane direction of the current road section as a center point of the crosswalk edge on one side close to the stop line; and determining the crosswalk region by taking the road section width as the length of the crosswalk and taking a second preset value as the width of the crosswalk based on the center point of the crosswalk edge.
4. The method of claim 3, prior to said determining a crosswalk region of the current road segment based on the end location and road segment width, the method further comprising:
acquiring the position of an upstream node and the position of a downstream node of the current road section from the map message set;
and taking the direction from the position of the upstream node to the position of the downstream node as the lane direction of the current road section.
5. The method of claim 1, wherein the acquiring, from the map message set, the road segment width and the end point position included in the center point list of the current road segment includes:
and acquiring a value of a Link field in a Link field of the current road section and a value of a last position point in a Points field, wherein the Points field comprises the center point list, from the map message set.
6. A crosswalk region determination device comprising:
the receiving module is used for receiving the map message set broadcasted by the road side unit;
the system comprises an acquisition module, a central point list and a map information collection 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 the central point list from the map information collection, the central point list comprises a plurality of orderly position points for fitting the central line of the road section, the current road section is a directed road section, and the distances between the position points included in the central point list and the two sides of the current road section are equal;
and the determining module is used for determining the crosswalk area of the current road section based on the end position and the road section width.
7. The apparatus of claim 6, the determination module further to:
taking the end position as a stop line of the current road section, and approaching to the edge center point of one side of the crosswalk;
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.
8. The apparatus according to claim 6 or 7, wherein the determined module 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 more than or equal to 2, taking a position point which is a first distance away from the end position along the lane direction of the current road section as a center point of the crosswalk edge on one side close to the stop line; based on the crosswalk edge center point, taking the road section width as the length of the crosswalk, taking a second preset value as the width of the crosswalk, and determining the crosswalk area; or,
if the number of lanes is less than 2, taking a position point which is a second distance away from the end position along the lane direction of the current road section as a center point of the crosswalk edge on one side close to the stop line; and determining the crosswalk region by taking the road section width as the length of the crosswalk and taking a second preset value as the width of the crosswalk based on the center point of the crosswalk edge.
9. The apparatus of claim 8, the acquisition module further to:
acquiring the position of an upstream node and the position of a downstream node of the current road section from the map message set;
and taking the direction from the position of the upstream node to the position of the downstream node as the lane direction of the current road section.
10. The apparatus of claim 6, wherein the obtaining module is specifically configured to:
and acquiring a value of a Link field in a Link field of the current road section and a value of a last position point in a Points field, wherein the Points field comprises the center point list, from the map message set.
11. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-5.
12. A non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method of any one of claims 1-5.
13. An autonomous vehicle comprising an electronic device according to claim 11, the processor of which is capable of performing the method of any of claims 1-5.
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