CN115392342A - Target vehicle classification method and device, electronic equipment and storage medium - Google Patents
Target vehicle classification method and device, electronic equipment and storage medium Download PDFInfo
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Abstract
The application relates to a target vehicle classification method, a target vehicle classification device, electronic equipment and a storage medium, and belongs to the technical field of communication. The target vehicle classification method comprises the following steps: acquiring real-time net altitude and altitude historical data of a vehicle; obtaining the lifting state of the vehicle according to the real-time net altitude and altitude historical data of the vehicle; the lifting state is used for indicating the altitude change trend of the vehicle; the vehicles comprise a host vehicle and a target vehicle; determining the position relation between the vehicle and the target vehicle according to the lifting state of the vehicle and the lifting state of the target vehicle, and classifying the target vehicle according to the position relation. According to the method, the lifting state of the vehicles is obtained according to the altitude data of the vehicles, the position relation and classification among the vehicles are determined according to the lifting state, the classification misalignment caused by different altitudes among the vehicles is avoided, and the early warning accuracy is improved.
Description
Technical Field
The present application relates to the field of communications technologies, and in particular, to a method and an apparatus for classifying a target vehicle, an electronic device, and a storage medium.
Background
The vehicle classification marking method or the early warning information sending method based on V2X simply processes the remote vehicle information in the received BSM message set, determines the remote vehicles which may threaten the vehicle within the preset range of the vehicle, and outputs the classification and early warning results.
In an actual scene, due to the existence of special roads such as a slope road and an overpass, the problem of inaccurate classification of target vehicles caused by different altitudes of relative positions of different vehicles on the special roads can be caused, so that the early warning accuracy of a V2X product is seriously influenced.
Disclosure of Invention
The application provides a method and a device for classifying target vehicles, electronic equipment and a storage medium, which are used for solving the problem that the classification of the target vehicles is inaccurate due to different altitudes of different relative positions of the vehicles.
In a first aspect, an embodiment of the present application provides a target vehicle classification method, including:
acquiring real-time net altitude and altitude historical data of a vehicle;
obtaining the lifting state of the vehicle according to the real-time net altitude and the altitude historical data of the vehicle; the lifting state is used for indicating the altitude change trend of the vehicle; the vehicles comprise a host vehicle and a target vehicle;
determining the position relation between the vehicle and the target vehicle according to the lifting state of the vehicle and the lifting state of the target vehicle, and classifying the target vehicle according to the position relation;
optionally, obtaining the lifting state of the vehicle according to the real-time net altitude and altitude historical data of the vehicle includes:
acquiring the current moment corresponding to the real-time net altitude;
determining M continuous first preset durations before the current time, and respectively extracting N altitude data in each first preset duration from the altitude historical data; m is greater than or equal to 2, N is greater than or equal to 2;
calculating the difference between the altitude data corresponding to every two adjacent moments in the N altitude data to obtain N-1 altitude difference values;
obtaining lifting information of the vehicle within the first preset time according to the N-1 altitude difference values;
determining the lifting state of the vehicle according to the M lifting information;
optionally, the lifting information comprises an uphill transition period and a downhill transition period;
obtaining the lifting information of the vehicle within the first preset time according to the N-1 altitude difference values, wherein the obtaining comprises:
determining X target altitude difference values which are not equal to zero in the N-1 altitude difference values; x is less than N;
calculating the sum of the X target altitude differences;
when X is larger than or equal to a first threshold value and the absolute value of the sum of the X target altitude differences is larger than a second threshold value, if the sum of the X target altitude differences is a positive number, determining that the lifting information is the downhill switching period, and if the sum of the X target altitude differences is a negative number, determining that the lifting information is the uphill switching period;
optionally, the lifting state comprises a level road state, an uphill state, and a downhill state; determining a lifting state of the vehicle according to the M lifting information, including:
when the M continuous lifting information are all in the uphill conversion period, determining that the vehicle is in an uphill state;
when the continuous M pieces of lifting information are the downhill switching period, determining that the vehicle is in a downhill state;
otherwise, determining that the vehicle is in a level road state;
optionally, before determining the position relationship between the host vehicle and the target vehicle according to the lifting state of the host vehicle and the lifting state of the target vehicle, the method further includes:
obtaining a net altitude difference according to the real-time net altitude of the vehicle and the real-time net altitude of the target vehicle;
determining that an absolute value of the net altitude difference is less than or equal to a third threshold and greater than a fourth threshold; the third threshold is greater than the fourth threshold;
optionally, determining the position relationship between the host vehicle and the target vehicle according to the lifting state of the host vehicle and the lifting state of the target vehicle includes:
when a first vehicle is in an uphill state and a second vehicle is in a downhill state, determining that the position relation between the first vehicle and the second vehicle is free of threat; wherein a vehicle with a high altitude value of the host vehicle and the target vehicle is taken as the first vehicle, and a vehicle with a low altitude value of the host vehicle and the target vehicle is taken as the second vehicle;
when the lifting states of the first vehicle and the second vehicle are both in an uphill state or a downhill state, acquiring the position information of the first vehicle and the position information of the second vehicle, and determining the position relationship between the first vehicle and the second vehicle according to the position information of the first vehicle and the position information of the second vehicle;
when the lifting states of the first vehicle and the second vehicle are the same in a flat road state, acquiring historical switching period path information of the first vehicle in the latest switching period; acquiring current position information of the second vehicle, and determining a point with the closest distance between the current position information and the historical conversion period path information; if the closest point is the starting point in the historical conversion period path information, determining the position relationship between the first vehicle and the second vehicle according to the position information of the first vehicle and the position information of the second vehicle, and if the closest point is not the starting point in the historical conversion period path information, determining that the position relationship between the first vehicle and the second vehicle is no threat;
optionally, a vehicle with a high altitude value in the host vehicle and the target vehicle is taken as a first vehicle, and a vehicle with a low altitude value in the host vehicle and the target vehicle is taken as a second vehicle;
determining the position relationship between the host vehicle and the target vehicle according to the lifting state of the host vehicle and the lifting state of the target vehicle, wherein the determining step comprises the following steps:
when the first vehicle is in a downhill state and the second vehicle is in an uphill state, acquiring a first driving direction of the vehicle and a second driving direction of the target vehicle; if the included angle between the first driving direction and the second driving direction belongs to a first preset angle interval, determining the position relation between the first vehicle and the second vehicle according to the position information of the first vehicle and the position information of the second vehicle, and if the included angle does not belong to the first preset angle interval, determining that the position relation between the first vehicle and the second vehicle is not threatened; the angle range of the first preset angle interval is greater than or equal to a first angle and is less than or equal to a second angle;
optionally, a vehicle with a high altitude value in the host vehicle and the target vehicle is taken as a first vehicle, and a vehicle with a low altitude value in the host vehicle and the target vehicle is taken as a second vehicle;
determining the position relationship between the host vehicle and the target vehicle according to the lifting state of the host vehicle and the lifting state of the target vehicle, wherein the determining step comprises the following steps:
when the first vehicle is in a downhill state and the second vehicle is in a level road state, or the first vehicle is in a level road state and the second vehicle is in an uphill state, or the first vehicle is in an uphill state and the second vehicle is in a level road state, or the first vehicle is in a level road state and the second vehicle is in a downhill state, the vehicle in the uphill state or the downhill state is taken as a third vehicle, and the vehicle in the level road state is taken as a fourth vehicle;
determining the front-rear relationship of the third vehicle and the fourth vehicle according to the current position information and the driving direction of the third vehicle and the current position information and the driving direction of the fourth vehicle;
if the fourth vehicle is a rear vehicle, obtaining historical path information of the third vehicle, and calculating a point with the shortest distance between the current position information of the fourth vehicle and the historical path information; acquiring the altitude value of the point with the nearest distance; calculating a first difference between the altitude value and a real-time net altitude of the fourth vehicle; if the first difference value is smaller than a fifth threshold value, determining the position relation between the first vehicle and the second vehicle according to the position information of the third vehicle and the position information of the fourth vehicle, and if the first difference value is larger than or equal to the fifth threshold value, determining that the position relation between the first vehicle and the second vehicle is not threatened;
if the fourth vehicle is a preceding vehicle, obtaining historical path information of the third vehicle, determining Y second preset time lengths before the current time, and respectively extracting each third angle corresponding to each second preset time length from the historical path information, wherein the third angle is used for representing the gradient of the current position of the third vehicle; acquiring a fourth angle of the fourth vehicle, wherein the fourth angle is used for representing an included angle between a first straight line determined by the current position information of the fourth vehicle and the current position information of the third vehicle and a horizontal plane; determining a position relation between the first vehicle and the second vehicle according to position information of the first vehicle and position information of the second vehicle when the fourth angle is less than or equal to S third angles among the Y third angles, and determining that the position relation between the first vehicle and the second vehicle is not threatened when the fourth angle is greater than S third angles; s is less than or equal to Y and S is greater than or equal to 1;
optionally, respectively extracting a third angle corresponding to a second preset duration from the historical path information, including:
extracting first altitude information and first position information corresponding to a second preset time length from the historical path information; acquiring second altitude information and second position information of the current moment; determining a first altitude difference according to the first altitude information and the second altitude information, determining a first horizontal distance according to the first position information and the second position information, and determining a third angle according to the first altitude difference and the first horizontal distance;
obtaining a fourth angle for the fourth vehicle, comprising:
acquiring third altitude information and third position information of the fourth vehicle at the current moment; determining a second altitude difference according to the second altitude information and third altitude information, determining a second horizontal distance according to the second position information and the third position information, and determining a fourth angle according to the second altitude difference and the second horizontal distance;
optionally, when an included angle between the driving direction of the third vehicle and the driving direction of the fourth vehicle belongs to a second preset angle interval, determining a second horizontal distance according to the second position information and the third position information includes:
determining a second straight line according to third position information and historical position information of the fourth vehicle;
and determining a second horizontal distance between the third vehicle and the second straight line according to the second straight line and second position information of the third vehicle.
In a second aspect, an embodiment of the present application provides a target vehicle classification device, including:
the acquisition module is used for acquiring real-time net altitude and altitude historical data of the vehicle;
the calculation module is used for obtaining the lifting state of the vehicle according to the real-time net altitude and the altitude historical data of the vehicle; the lifting state is used for indicating the altitude change trend of the vehicle; the vehicles comprise a host vehicle and a target vehicle;
the classification module is used for determining the position relation between the vehicle and the target vehicle according to the lifting state of the vehicle and the lifting state of the target vehicle, and classifying the target vehicle according to the position relation.
In a third aspect, an embodiment of the present application provides an electronic device, including: the system comprises a processor, a memory and a communication bus, wherein the processor and the memory are communicated with each other through the communication bus;
the memory for storing a computer program;
the processor is configured to execute the program stored in the memory to implement the method of classifying a target vehicle according to any one of the first aspect of the present invention.
In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program, and the computer program, when executed by a processor, implements the target vehicle classification method according to any one of the first aspect.
Compared with the prior art, the technical scheme provided by the embodiment of the application has the following advantages: the method provided by the embodiment of the application acquires the real-time net altitude and the altitude historical data of the vehicle; obtaining the lifting state of the vehicle according to the real-time net altitude and the altitude historical data of the vehicle; the elevation state is used for indicating the altitude change trend of the vehicle; the vehicles comprise a host vehicle and a target vehicle; determining the position relation between the vehicle and the target vehicle according to the lifting state of the vehicle and the lifting state of the target vehicle, and classifying the target vehicle according to the position relation. According to the method, the lifting state of the vehicles is obtained according to the altitude data of the vehicles, the position relation and classification among the vehicles are determined according to the lifting state, the classification misalignment caused by different altitudes among the vehicles is avoided, and the early warning accuracy is improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is a schematic view of a scene where vehicles are at different altitudes in a target vehicle classification method according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a cross road scene including a slope road in a method for classifying target vehicles according to an embodiment of the present application;
FIG. 3 is a schematic flow chart illustrating a method for classifying a target vehicle according to an embodiment of the present disclosure;
FIG. 4 is a schematic diagram of a determination scenario of a method for classifying a target vehicle according to an embodiment of the present application;
FIG. 5 is a schematic diagram of another determination scenario of a method for classifying a target vehicle according to an embodiment of the present application;
FIG. 6 is a schematic diagram of another determination scenario of a method for classifying a target vehicle according to an embodiment of the present application;
FIG. 7 is a schematic diagram of another determination scenario of a method for classifying a target vehicle according to an embodiment of the present application;
FIG. 8 is a schematic flow chart diagram illustrating another method for classifying a target vehicle according to an embodiment of the present application;
FIG. 9 is a schematic structural diagram of a classification device for a target vehicle according to an embodiment of the present application;
fig. 10 is a schematic structural diagram of an electronic device in an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The method provided in the embodiment of the application can be applied to electronic equipment, the electronic equipment can be specifically a module capable of realizing a communication function or terminal equipment containing the module, and the terminal equipment can be a mobile terminal or an intelligent terminal. The mobile terminal can be at least one of a mobile phone, a tablet computer, a notebook computer and the like; the intelligent terminal can be a terminal containing a wireless communication module, such as an intelligent automobile, an intelligent watch, a shared bicycle, an intelligent cabinet and the like; the module may be a wireless communication module, such as any one of a 2G communication module, a 3G communication module, a 4G communication module, a 5G communication module, and an NB-IOT communication module.
The method for classifying the target vehicles provided by the first embodiment of the application can be applied to special roads including slope roads, viaducts and the like, namely, in a scene that the vehicles may be in different altitudes, as shown in fig. 1 or fig. 2, the method can determine the position relationship between the vehicle and the target vehicles through altitude information, further classify the target vehicles, solve the problem of inaccurate classification of the target vehicles caused by different altitudes of the relative positions of the different vehicles in the special roads, and improve the early warning accuracy of V2X products. Wherein, V2X refers to Vehicle to X, that is, vehicle to evolution, that is, information exchange of Vehicle to outside.
To explain the method in detail, a method for classifying a target vehicle, as shown in fig. 3, includes:
According to the method, the lifting state of the vehicles is obtained according to the altitude data of the vehicles, the position relation and classification among the vehicles are determined according to the lifting state, the classification misalignment caused by different altitudes among the vehicles is avoided, and the early warning accuracy is improved.
In one embodiment, obtaining the lifting state of the vehicle according to the real-time net altitude and altitude historical data of the vehicle comprises:
acquiring a current moment corresponding to a real-time net altitude; determining continuous M first preset durations before the current moment, and respectively extracting N altitude data in each first preset duration from altitude historical data; m is greater than or equal to 2, N is greater than or equal to 2; calculating the difference between the altitude data corresponding to every two adjacent moments in the N altitude data to obtain N-1 altitude difference values; obtaining lifting information of the vehicle within a first preset time length according to the N-1 altitude difference values; and determining the lifting state of the vehicle according to the M pieces of lifting information.
The method for obtaining the lifting information of the vehicle in the first preset time length comprises the following steps of:
determining X target altitude difference values which are not equal to zero in the N-1 altitude difference values; x is less than N; calculating the sum of X target altitude differences; and when X is greater than or equal to a first threshold value and the absolute value of the sum of the X target altitude differences is greater than a second threshold value, determining that the lifting information is in a downhill conversion period if the sum of the X target altitude differences is a positive number, and determining that the lifting information is in an uphill conversion period if the sum of the X target altitude differences is a negative number.
The lifting state comprises a level road state, an uphill state and a downhill state; determining a lifting state of the vehicle according to the M lifting information, comprising: when the M continuous lifting information are all in the uphill switching period, determining that the vehicle is in an uphill state; when the M continuous lifting information are all downhill transition periods, determining that the vehicle is in a downhill state; otherwise, determining that the vehicle is in a flat road state.
In this embodiment, when the vehicle is at different altitudes, it is important to determine what state the vehicle is in, such as an uphill state, a downhill state, and a level road state, and obtain the driving behavior of the vehicle by determining the state of the vehicle, thereby classifying complex scenes.
In the present embodiment, the elevation _ status is used to describe the status of the vehicle, for example, the elevation _ status may have 5 values, which are 0 (flat road), 1 (Uphill), 2 (Downhill), 3 (Uphill transition), and 4 (Downhill transition).
In this embodiment, the classification of the conversion period may be determined by the vehicle elevation _ status before the conversion period, the default value is 0, and the on-board unit may record the position information (such as longitude and latitude) and altitude data of the vehicle after being started. For example, the vehicle-mounted unit always acquires the real-time net altitude of the vehicle and stores the real-time net altitude into the altitude database of the vehicle as the altitude historical data of the vehicle, and when the current lifting state needs to be calculated, the altitude difference array within 1s (10 hz sampling, 10 altitude historical data collected per second) of the current altitude can be calculated and obtained through the altitude historical data. The first threshold may be 3, the second threshold may be 10, the first preset time may be 1 second, and at this time, one altitude difference value array includes 9 altitude difference values.
That is, the difference array is obtained by subtracting 10 altitude data counted in 1s in sequence, for example, the first bit of the difference array is obtained by subtracting the first altitude data from the second altitude data, the second bit of the difference array is obtained by subtracting the second altitude data from the third altitude data, and so on.
After obtaining the difference arrays within 1 second (i.e. the 9 altitude differences), counting the number of the differences which are not 0, and if the counted number of the differences which is not 0 is greater than a first threshold (e.g. 3) and the absolute value of the sum of the differences in the difference arrays is greater than a second threshold (e.g. may be 10), entering the next analysis (e.g. always driving on a flat road, the difference arrays are all 0 and are always counted).
And entering a conversion period when the difference values within 1s satisfy 3 or more and the sum of the difference values is more than 10 or less than-10 (the unit is decimeter, namely 0.1 m), wherein the sum of the difference values is a positive number and is a Down transition, and the sum of the difference values is a negative number and is a Uptransition.
Calculating 3 continuous altitude difference values of 1s before the current time, wherein the elevation _ status is Upill if the calculation result of each 1 second is UpTransmission, and the elevation _ status is Down if the calculation result of each 1 second is Down Transmission;
when the elevation _ status is Uphill or Downhill, if the difference value array of consecutive 3s does not satisfy the same number of difference values or the difference value of the same number is less than 3, the elevation _ status is converted to 0 (flat road).
It should be noted that, in this embodiment, the first threshold is 3, and the second threshold is 10, which are only for convenience of understanding, and the first threshold and the second threshold may be flexibly set according to needs, and are not limited.
It should be noted that all algorithms in this embodiment are calculated in an application layer of a V2X protocol stack, and after receiving the positioning related information of the remote vehicle through the V2X protocol stack, data is transmitted to the application layer to perform calculation and state judgment, where the V2X protocol stack is deployed in an on-board unit OBU, and the vehicle may be any vehicle on which the on-board unit OBU is installed.
In one embodiment, before determining the positional relationship between the host vehicle and the target vehicle according to the lifting state of the host vehicle and the lifting state of the target vehicle, the method further includes: obtaining a net altitude difference according to the real-time net altitude of the vehicle and the real-time net altitude of the target vehicle; determining that an absolute value of the net altitude difference is less than or equal to a third threshold and greater than a fourth threshold; the third threshold is greater than the fourth threshold.
In this embodiment, the third threshold means that if the altitude difference between the two vehicles is greater than the threshold, the two vehicles must not have a relevant threat relationship, and the fourth threshold means that if the altitude difference between the two vehicles is less than the threshold, the two vehicles must be on the same plane, and a relevant threat relationship exists.
When the absolute value of the altitude difference between the two vehicles is less than or equal to the third threshold and greater than the fourth threshold, the vehicles may be in the process of ascending and descending, and the altitude difference exists but the altitude difference is not large, and the position relationship between the two vehicles under the condition can be determined according to the following method.
In one embodiment, the positional relationship between the host vehicle and the target vehicle is determined according to the lift state of the host vehicle and the lift state of the target vehicle, and may be specifically determined in the following manner. For convenience of understanding and calculation, a vehicle with a high altitude value in the host vehicle and the target vehicle is taken as a first vehicle, and a vehicle with a low altitude value in the host vehicle and the target vehicle is taken as a second vehicle, and at least the following five conditions are included between the first vehicle and the second vehicle:
in a first case, when the first vehicle is in an uphill state and the second vehicle is in a downhill state, it is determined that a positional relationship between the first vehicle and the second vehicle is not threatening. In the first situation, because the real-time net altitude of the first vehicle is higher than the real-time net altitude of the second vehicle, when the first vehicle goes uphill and the second vehicle goes downhill, the altitude difference between the two vehicles is larger and larger, at the moment, the position relation between the first vehicle and the second vehicle can be directly determined to be free of threat, and the position information such as the longitude and the latitude of the two vehicles does not need to be classified, so that the calculated amount is saved, and the classification efficiency is improved.
In the second case, when the lifting states of the first vehicle and the second vehicle are both in an uphill state or a downhill state, the position information of the first vehicle and the position information of the second vehicle are acquired, and the position relationship between the first vehicle and the second vehicle is determined according to the position information of the first vehicle and the position information of the second vehicle. In the second case, since the first vehicle and the second vehicle are both ascending or descending, it cannot be further determined whether the altitude difference between the two vehicles is gradually decreased or increased, and at this time, the position relationship between the two vehicles needs to be further determined by combining the position information of the two vehicles.
In a third situation, when the lifting states of the first vehicle and the second vehicle are the same as the flat road state, such as the vehicle number six and the vehicle number eight in fig. 1, historical conversion period path information of the first vehicle in the latest conversion period is obtained; acquiring current position information of a second vehicle, and determining a point with the closest distance between the current position information and historical conversion period path information; and if the point closest to the vehicle is not the starting point in the historical conversion period path information, determining that the position relationship between the first vehicle and the second vehicle is no threat.
In the third situation, when the vehicle and the distant vehicle are both on a flat road, if the situations of the vehicle No. 6 and the vehicle No. 8 in the figure 1 are not considered, the scene is directly classified as two vehicles without threats, if the scenes of the vehicle No. 6 and the vehicle No. 8 in the figure 1 are considered, the historical path from the conversion period of the vehicle No. 8 with high altitude to the last is obtained, the distant vehicle to the nearest point in the historical path is calculated, and if the scene is the starting point (non-latest point) in the historical path, the relative positions of the two vehicles are continuously judged; otherwise, the classification of two vehicles is no threat. The method supports the situation that the historical path of the front vehicle covers the rear vehicle, and the classification of the vehicle No. 8 and the vehicle No. 14 can be classified into two vehicles without threat.
In a fourth situation, when the first vehicle is in a downhill state and the second vehicle is in an uphill state, such as the vehicles No. 2 and No. 7 in fig. 1, or such as the vehicles No. 1 and No. 2 in fig. 4, the first traveling direction of the vehicle and the second traveling direction of the target vehicle are acquired; if the included angle between the first driving direction and the second driving direction belongs to a first preset angle interval, determining the position relation between the first vehicle and the second vehicle according to the position information of the first vehicle and the position information of the second vehicle, and if the included angle does not belong to the first preset angle interval, determining that the position relation between the first vehicle and the second vehicle is not threatened; the angle range of the first preset angle interval is greater than or equal to the first angle and less than or equal to the second angle.
Since the heading (driving direction) of the host vehicle and the heading of the distant vehicle in the two scenes are different, when the vector angle of the driving direction of the distant vehicle and the host vehicle is in a first preset angle interval, for example, 135 ° to 225 ° (i.e., a reverse incoming vehicle), the relative positions of the two vehicles are continuously judged; otherwise, the two vehicles have no threat. It should be noted that the first predetermined angle interval is 135 ° and the second angle is 225 °, which are only examples, and the first predetermined angle interval is not particularly limited.
In a fifth case, when the first vehicle is in a downhill state and the second vehicle is in a level road state, or the first vehicle is in a level road state and the second vehicle is in an uphill state, or the first vehicle is in an uphill state and the second vehicle is in a level road state, or the first vehicle is in a level road state and the second vehicle is in a downhill state, for convenience of understanding and calculation, the vehicle in the uphill state or the downhill state is taken as the third vehicle, and the vehicle in the level road state is taken as the fourth vehicle.
And determining the front-rear relationship of the third vehicle and the fourth vehicle according to the current position information and the driving direction of the third vehicle and the current position information and the driving direction of the fourth vehicle. Different front and back relations and different judging modes are as follows:
if the fourth vehicle is a rear vehicle, acquiring historical path information of the third vehicle, and calculating a point with the shortest distance between the current position information of the fourth vehicle and the historical path information; acquiring an altitude value of a point closest to the current point; calculating a first difference between the altitude value and a real-time net altitude of the fourth vehicle; and if the first difference is larger than or equal to the fifth threshold, determining that the position relationship between the first vehicle and the second vehicle is no threat.
The scenario of this branch can be simplified as is the case in fig. 5. The classification method of the scene is that a vehicle on a slope is taken as the vehicle, and front and back classification of a distant vehicle is carried out on a 2-dimensional level, namely, broken lines of a vehicle No. 5 and a vehicle No. 6 in a figure 5 are separated from each other left and right; if the distant vehicle is a rear vehicle, obtaining the closest point from the current position of the distant vehicle to the historical path of the vehicle through calculation, acquiring the altitude of the closest point, calculating the difference value between the altitude of the closest point and the current altitude of the distant vehicle, and if the difference value is smaller than a fifth threshold value, continuously judging the relative position of the two vehicles; otherwise, the classification is two-vehicle without threat.
If the fourth vehicle is a preceding vehicle, obtaining historical path information of the third vehicle, determining Y second preset durations before the current time, and respectively extracting each third angle corresponding to each second preset duration from the historical path information, wherein the third angle is used for representing the gradient of the current position where the third vehicle is located; acquiring a fourth angle of a fourth vehicle, wherein the fourth angle is used for representing an included angle between a first straight line determined by the current position information of the fourth vehicle and the current position information of the third vehicle and a horizontal plane; in the Y third angles, when the fourth angle is smaller than or equal to the S third angles, determining the position relation between the first vehicle and the second vehicle according to the position information of the first vehicle and the position information of the second vehicle, and when the fourth angle is larger than the S third angles, determining that the position relation between the first vehicle and the second vehicle is no threat; s is less than or equal to Y and S is greater than or equal to 1.
Wherein, respectively extracting a third angle corresponding to a second preset duration from the historical path information, including:
extracting first altitude information and first position information corresponding to a second preset time length from historical path information; acquiring second altitude information and second position information at the current moment; determining a first altitude difference according to the first altitude information and the second altitude information, determining a first horizontal distance according to the first position information and the second position information, and determining a third angle according to the first altitude difference and the first horizontal distance;
obtaining a fourth angle for a fourth vehicle, comprising:
acquiring third altitude information and third position information of a fourth vehicle at the current moment; and determining a second altitude difference according to the second altitude information and the third altitude information, determining a second horizontal distance according to the second position information and the third position information, and determining a fourth angle according to the second altitude difference and the second horizontal distance.
In this embodiment, if it is determined that the fourth vehicle is a preceding vehicle, as shown in fig. 6, an altitude and a longitude and a latitude 1 second before the current position in the historical path of the vehicle are obtained, and an angle is calculated according to an altitude difference and a 2-dimensional distance
Calculate by the same principle
And
when in use
When it is, it is classified as two vehicles without threat, otherwise, if it is
And the corresponding position of the fourth vehicle needs to continuously judge the relative position of the two vehicles according to the information such as longitude and latitude.
In order to describe the slope of the slope in a better angle, the position of the vehicle 5s before the current position from the switching period can be used, one position is calculated every second, and if 4 of the 5 angles meet the judgment condition, the judgment condition is considered to be satisfied.
In one embodiment, when an angle between the driving direction of the third vehicle and the driving direction of the fourth vehicle is within a second preset angle interval, determining a second horizontal distance according to the second position information and the third position information includes:
determining a second straight line according to third position information and historical position information of a fourth vehicle;
and determining a second horizontal distance between the third vehicle and the second straight line according to the second straight line and the second position information of the third vehicle.
In this embodiment, as shown in fig. 7, for an intersection scene including a slope, in the scene, the fifth condition can be referred to for the classification of the No. 3 vehicle and the No. 2 vehicle, and the classification of the No. 1 vehicle and the No. 2 vehicle needs to determine a straight line L1 by connecting the current point of the No. 1 vehicle with the previous point of the current point; calculating the distance d from the No. 2 vehicle to the L1 through the longitude and latitude of the No. 2 vehicle; and judging whether to continuously classify the No. 1 vehicle according to the fifth condition.
Under the various scenes, the relative position relation of the two vehicles is obtained through deep analysis by less data; the method has the advantages that the more complex scene in the actual road condition is fully covered, the requirement of daily driving is met, and the effectiveness of the product is improved.
It should be noted that ele _ HV indicates the elevation of the host vehicle, ele _ RV indicates the elevation of the remote vehicle, HV _ elevation _ status indicates the elevation _ status of the host vehicle, RV _ elevation _ status indicates the elevation _ status of the remote vehicle, ele _ difference indicates the elevation difference between the host vehicle and the remote vehicle, d indicates the 2-dimensional distance between the host vehicle and the remote vehicle, a rightward arrow indicates that elevation _ status is in a level road state 0, a downward arrow indicates that elevation _ status is in a down-slope state 2, and an upward arrow indicates that elevation _ status is in an up-slope state 1.
It should be noted that the above five determination conditions include ele _ HV > ele _ RV, which is a determination that which vehicle is located at a position with a high altitude needs to be determined, and the five determination conditions are performed based on the vehicle with a high altitude.
If ele _ HV = ele _ RV, the relative position classification of the 2D plane is done directly, since there must be a relevant threat relationship when the two vehicles are at the same altitude.
In one embodiment, a method for classifying a target vehicle, as shown in fig. 8, includes:
in step 810, if the vehicle altitude is in the uphill state and the remote vehicle altitude is in the uphill state, or the vehicle altitude is in the downhill state and the remote vehicle altitude is in the downhill state, the relative position between the two vehicles is continuously determined according to the second situation in the above embodiment.
In this embodiment, the classification scheme of the target vehicles under the conditions of different altitude road conditions based on V2X can solve the problem that in an actual scene, due to the existence of special roads such as a slope road and an overpass, classification of the target vehicles is inaccurate due to different altitudes of different relative positions of the vehicles on the special roads, and can improve classification accuracy, so that the early warning accuracy of a V2X product is improved. And moreover, the vehicle is classified according to various conditions by using the altitude data in the received BSM message, so that the analysis and processing efficiency and accuracy are improved.
Based on the same concept, the embodiment of the present application provides a target vehicle classification device, and the specific implementation of the device may refer to the description of the method embodiment section, and repeated descriptions are omitted, as shown in fig. 9, the device mainly includes:
an obtaining module 901, configured to obtain a real-time net altitude and altitude history data of a vehicle;
the calculation module 902 is used for obtaining the lifting state of the vehicle according to the real-time net altitude and the altitude historical data of the vehicle; the lifting state is used for indicating the altitude change trend of the vehicle; the vehicles comprise a host vehicle and a target vehicle;
the classification module 903 is configured to determine a position relationship between the host vehicle and the target vehicle according to the lifting state of the host vehicle and the lifting state of the target vehicle, and classify the target vehicle according to the position relationship.
In this embodiment, the obtaining module 901 obtains altitude data of the vehicles, the calculating module 902 obtains lifting states of the vehicles according to the altitude data, and the classifying module 903 determines position relationships and classifications among the vehicles according to the lifting states, so that the classification misalignment caused by different altitudes among the vehicles is avoided, and the early warning accuracy is improved.
Based on the same concept, an embodiment of the present application further provides an electronic device, as shown in fig. 10, the electronic device mainly includes: a processor 1001, a memory 1002, and a communication bus 1003, wherein the processor 1001 and the memory 1002 communicate with each other via the communication bus 1003. The memory 1002 stores a program executable by the processor 1001, and the processor 1001 executes the program stored in the memory 1002, so as to implement the following steps:
acquiring real-time net altitude and altitude historical data of a vehicle;
obtaining the lifting state of the vehicle according to the real-time net altitude and altitude historical data of the vehicle; the lifting state is used for indicating the altitude change trend of the vehicle; the vehicles comprise a host vehicle and a target vehicle;
determining the position relation between the vehicle and the target vehicle according to the lifting state of the vehicle and the lifting state of the target vehicle, and classifying the target vehicle according to the position relation.
The communication bus 1003 mentioned in the electronic device may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus 1003 may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown in FIG. 10, but this is not intended to represent only one bus or type of bus.
The Memory 1002 may include a Random Access Memory (RAM) or a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. Alternatively, the memory may be at least one storage device located remotely from the aforementioned processor 1001.
The Processor 1001 may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc., and may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic devices, discrete gates or transistor logic devices, and discrete hardware components.
In yet another embodiment of the present application, there is also provided a computer-readable storage medium having stored therein a computer program which, when run on a computer, causes the computer to execute the target vehicle classification method described in the above embodiment.
In the above embodiments, all or part of the implementation may be realized by software, hardware, firmware, or any combination thereof. When implemented in software, it may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the application to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored on a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website site, computer, server, or data center to another website site, computer, server, or data center via wire (e.g., coaxial cable, fiber optic, digital Subscriber Line (DSL)) or wirelessly (e.g., infrared, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that includes one or more of the available media. The available media may be magnetic media (e.g., floppy disks, hard disks, tapes, etc.), optical media (e.g., DVDs), or semiconductor media (e.g., solid state disks), among others.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
The above description is merely illustrative of particular embodiments of the invention that enable those skilled in the art to understand or practice the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (13)
1. A method of classifying a target vehicle, comprising:
acquiring real-time net altitude and altitude historical data of a vehicle;
obtaining the lifting state of the vehicle according to the real-time net altitude and altitude historical data of the vehicle; the lifting state is used for indicating the altitude change trend of the vehicle; the vehicles comprise a host vehicle and a target vehicle;
determining the position relation between the vehicle and the target vehicle according to the lifting state of the vehicle and the lifting state of the target vehicle, and classifying the target vehicle according to the position relation.
2. The method of claim 1, wherein deriving the lift state of the vehicle from real-time net altitude and altitude history data of the vehicle comprises:
acquiring the current moment corresponding to the real-time net altitude;
determining M continuous first preset durations before the current time, and respectively extracting N altitude data in each first preset duration from the altitude historical data; m is greater than or equal to 2, N is greater than or equal to 2;
calculating the difference between the altitude data corresponding to every two adjacent moments in the N altitude data to obtain N-1 altitude difference values;
obtaining lifting information of the vehicle within the first preset time according to the N-1 altitude difference values;
and determining the lifting state of the vehicle according to the M lifting information.
3. The method of claim 2, wherein the boost information includes an uphill transition period and a downhill transition period;
obtaining the lifting information of the vehicle within the first preset time according to the N-1 altitude difference values, wherein the obtaining comprises:
determining X target altitude difference values which are not equal to zero in the N-1 altitude difference values; x is less than N;
calculating the sum of the X target altitude differences;
when X is larger than or equal to a first threshold value and the absolute value of the sum of the X target altitude differences is larger than a second threshold value, if the sum of the X target altitude differences is a positive number, the promotion information is determined to be the downhill switching period, and if the sum of the X target altitude differences is a negative number, the promotion information is determined to be the uphill switching period.
4. The method of claim 3, wherein the lift condition comprises a level road condition, an uphill condition, and a downhill condition; determining a lifting state of the vehicle according to the M lifting information, including:
when the M continuous lifting information are all in the uphill conversion period, determining that the vehicle is in an uphill state;
when the continuous M pieces of lifting information are the downhill switching period, determining that the vehicle is in a downhill state;
otherwise, determining that the vehicle is in a flat road state.
5. The method according to claim 1, before determining the positional relationship between the host vehicle and the target vehicle according to the lift state of the host vehicle and the lift state of the target vehicle, the method further comprising:
obtaining a net altitude difference according to the real-time net altitude of the vehicle and the real-time net altitude of the target vehicle;
determining that an absolute value of the net altitude difference is less than or equal to a third threshold and greater than a fourth threshold; the third threshold is greater than the fourth threshold.
6. The method according to claim 5, wherein determining the positional relationship between the host vehicle and the target vehicle based on the elevation state of the host vehicle and the elevation state of the target vehicle comprises:
when a first vehicle is in an uphill state and a second vehicle is in a downhill state, determining that the position relation between the first vehicle and the second vehicle is free of threat; wherein a vehicle with a high altitude value of the host vehicle and the target vehicle is taken as the first vehicle, and a vehicle with a low altitude value of the host vehicle and the target vehicle is taken as the second vehicle;
when the lifting states of the first vehicle and the second vehicle are both in an uphill state or a downhill state, acquiring the position information of the first vehicle and the position information of the second vehicle, and determining the position relationship between the first vehicle and the second vehicle according to the position information of the first vehicle and the position information of the second vehicle;
when the lifting states of the first vehicle and the second vehicle are the same as the level road state, obtaining historical conversion period path information of the first vehicle in the latest conversion period; acquiring current position information of the second vehicle, and determining a point with the closest distance between the current position information and the historical conversion period path information; if the closest point is the starting point in the historical conversion period path information, determining the position relationship between the first vehicle and the second vehicle according to the position information of the first vehicle and the position information of the second vehicle, and if the closest point is not the starting point in the historical conversion period path information, determining that the position relationship between the first vehicle and the second vehicle is no threat.
7. The method according to claim 5, wherein a vehicle with a high altitude value among the host vehicle and the target vehicle is taken as a first vehicle, and a vehicle with a low altitude value among the host vehicle and the target vehicle is taken as a second vehicle;
determining the position relationship between the host vehicle and the target vehicle according to the lifting state of the host vehicle and the lifting state of the target vehicle, wherein the determining step comprises the following steps:
when the first vehicle is in a downhill state and the second vehicle is in an uphill state, acquiring a first driving direction of the vehicle and a second driving direction of the target vehicle; if the included angle between the first driving direction and the second driving direction belongs to a first preset angle interval, determining the position relation between the first vehicle and the second vehicle according to the position information of the first vehicle and the position information of the second vehicle, and if the included angle does not belong to the first preset angle interval, determining that the position relation between the first vehicle and the second vehicle is not threatened; the angle range of the first preset angle interval is greater than or equal to a first angle and is less than or equal to a second angle.
8. The method according to claim 5, wherein a vehicle with a high altitude value among the host vehicle and the target vehicle is taken as a first vehicle, and a vehicle with a low altitude value among the host vehicle and the target vehicle is taken as a second vehicle;
determining the position relationship between the host vehicle and the target vehicle according to the lifting state of the host vehicle and the lifting state of the target vehicle, wherein the determining step comprises the following steps:
when the first vehicle is in a downhill state and the second vehicle is in a level road state, or the first vehicle is in a level road state and the second vehicle is in an uphill state, or the first vehicle is in an uphill state and the second vehicle is in a level road state, or the first vehicle is in a level road state and the second vehicle is in a downhill state, the vehicle in the uphill state or the downhill state is taken as a third vehicle, and the vehicle in the level road state is taken as a fourth vehicle;
determining the front-rear relationship of the third vehicle and the fourth vehicle according to the current position information and the driving direction of the third vehicle and the current position information and the driving direction of the fourth vehicle;
if the fourth vehicle is a rear vehicle, obtaining historical path information of the third vehicle, and calculating a point with the shortest distance between the current position information of the fourth vehicle and the historical path information; acquiring the altitude value of the point with the nearest distance; calculating a first difference between the altitude value and a real-time net altitude of the fourth vehicle; if the first difference is smaller than a fifth threshold value, determining the position relationship between the first vehicle and the second vehicle according to the position information of the third vehicle and the position information of the fourth vehicle, and if the first difference is larger than or equal to the fifth threshold value, determining that the position relationship between the first vehicle and the second vehicle is not threatened;
if the fourth vehicle is a preceding vehicle, obtaining historical path information of the third vehicle, determining Y second preset durations before the current time, and respectively extracting each third angle corresponding to each second preset duration from the historical path information, wherein the third angles are used for representing the gradient of the current position of the third vehicle; acquiring a fourth angle of the fourth vehicle, wherein the fourth angle is used for representing an included angle between a first straight line determined by the current position information of the fourth vehicle and the current position information of the third vehicle and a horizontal plane; determining a position relationship between the first vehicle and the second vehicle according to position information of the first vehicle and position information of the second vehicle when the fourth angle is less than or equal to S third angles among the Y third angles, and determining that the position relationship between the first vehicle and the second vehicle is not threatening when the fourth angle is greater than S third angles; s is less than or equal to Y and S is greater than or equal to 1.
9. The method according to claim 8, wherein extracting a third angle corresponding to a second preset time period from the historical path information respectively comprises:
extracting first altitude information and first position information corresponding to a second preset time length from the historical path information; acquiring second altitude information and second position information of the current moment; determining a first altitude difference according to the first altitude information and the second altitude information, determining a first horizontal distance according to the first position information and the second position information, and determining a third angle according to the first altitude difference and the first horizontal distance;
obtaining a fourth angle of the fourth vehicle, comprising:
acquiring third altitude information and third position information of the fourth vehicle at the current moment; determining a second altitude difference according to the second altitude information and third altitude information, determining a second horizontal distance according to the second position information and the third position information, and determining a fourth angle according to the second altitude difference and the second horizontal distance.
10. The method according to claim 9, wherein determining a second horizontal distance according to the second position information and the third position information when an angle between the traveling direction of the third vehicle and the traveling direction of the fourth vehicle belongs to a second preset angle interval comprises:
determining a second straight line according to third position information and historical position information of the fourth vehicle;
and determining a second horizontal distance between the third vehicle and the second straight line according to the second straight line and second position information of the third vehicle.
11. A target vehicle classification device, characterized by comprising:
the acquisition module is used for acquiring real-time net altitude and altitude historical data of the vehicle;
the calculation module is used for obtaining the lifting state of the vehicle according to the real-time net altitude and the altitude historical data of the vehicle; the elevation state is used for indicating the altitude change trend of the vehicle; the vehicles comprise a host vehicle and a target vehicle;
the classification module is used for determining the position relation between the vehicle and the target vehicle according to the lifting state of the vehicle and the lifting state of the target vehicle, and classifying the target vehicle according to the position relation.
12. An electronic device, comprising: the system comprises a processor, a memory and a communication bus, wherein the processor and the memory are communicated with each other through the communication bus;
the memory for storing a computer program;
the processor, configured to execute the program stored in the memory, to implement the method of classifying a target vehicle according to any one of claims 1 to 10.
13. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method of classifying a target vehicle according to any one of claims 1 to 10.
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| CN202210836161.9A CN115392342A (en) | 2022-07-15 | 2022-07-15 | Target vehicle classification method and device, electronic equipment and storage medium |
| PCT/CN2023/101813 WO2024012173A1 (en) | 2022-07-15 | 2023-06-21 | Target vehicle classification method and apparatus, and electronic device and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116450705A (en) * | 2023-04-04 | 2023-07-18 | 瑞修得信息科技(无锡)有限公司 | Method and system for identifying ascending and descending slopes based on vehicle-mounted data acquisition equipment |
| WO2024012173A1 (en) * | 2022-07-15 | 2024-01-18 | 深圳市广通远驰科技有限公司 | Target vehicle classification method and apparatus, and electronic device and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109131322A (en) * | 2018-09-20 | 2019-01-04 | 北京新能源汽车股份有限公司 | Vehicle classification marking method, control device and automobile |
| US11500385B2 (en) * | 2019-09-30 | 2022-11-15 | Zoox, Inc. | Collision avoidance perception system |
| CN114125695B (en) * | 2020-08-31 | 2024-05-31 | 奥迪股份公司 | Slope driving warning method, device and equipment of vehicle and storage medium |
| CN113034330A (en) * | 2021-03-10 | 2021-06-25 | 西安主函数智能科技有限公司 | Path feature extraction method and device under engineering transportation environment |
| CN113619578A (en) * | 2021-07-28 | 2021-11-09 | 东风汽车集团股份有限公司 | Vehicle anti-collision method, anti-collision system and computer readable storage medium |
| CN115392342A (en) * | 2022-07-15 | 2022-11-25 | 深圳市广通远驰科技有限公司 | Target vehicle classification method and device, electronic equipment and storage medium |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024012173A1 (en) * | 2022-07-15 | 2024-01-18 | 深圳市广通远驰科技有限公司 | Target vehicle classification method and apparatus, and electronic device and storage medium |
| CN116450705A (en) * | 2023-04-04 | 2023-07-18 | 瑞修得信息科技(无锡)有限公司 | Method and system for identifying ascending and descending slopes based on vehicle-mounted data acquisition equipment |
| CN116450705B (en) * | 2023-04-04 | 2023-12-29 | 瑞修得信息科技(无锡)有限公司 | Method and system for identifying ascending and descending slopes based on vehicle-mounted data acquisition equipment |
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