CN116022133A - Pedestrian splash-proof method and device when water pits exist on automobile driving route - Google Patents
Pedestrian splash-proof method and device when water pits exist on automobile driving route Download PDFInfo
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Abstract
The invention discloses a pedestrian splash-proof method and device when a water pit exists on an automobile driving route. The pedestrian splashing prevention method when the water pit exists on the automobile driving route comprises the following steps: acquiring surrounding environment information of a vehicle; judging whether a water pit exists around the vehicle according to the surrounding environment information of the vehicle, if so, judging whether pedestrians exist around the water pit according to the surrounding environment information of the vehicle, and if so, acquiring a vehicle navigation route; judging whether the vehicle passes through the puddle or not according to the vehicle navigation route, if so, judging whether an obstacle avoidance route can be generated, and if so, generating the obstacle avoidance route. According to the pedestrian splashing prevention method when the water pit exists on the automobile driving route, whether pedestrians around the water pit are affected when the automobile passes through the water pit or not is comprehensively considered according to the water pit, pedestrians and the driving route of the automobile, if so, an obstacle avoidance route is generated, and therefore pedestrians are prevented from being affected.
Description
Technical Field
The application relates to the technical field of vehicles, in particular to a pedestrian splash-proof method when a water pit exists on an automobile driving route and a pedestrian splash-proof device when the water pit exists on the automobile driving route.
Background
In the prior art, when a puddle exists on an automobile driving route, water in the puddle is often splashed to influence surrounding pedestrians, and in the prior art, obstacle avoidance treatment cannot be carried out according to the relative position relation of the puddle and the pedestrians.
It is therefore desirable to have a solution that solves or at least alleviates the above-mentioned drawbacks of the prior art.
Disclosure of Invention
The object of the present invention is to provide a method for pedestrian anti-splash when there is a puddle on the driving route of a car, which overcomes or at least alleviates at least one of the above-mentioned drawbacks of the prior art.
In one aspect of the present invention, there is provided a pedestrian anti-splash method when there is a puddle on a driving route of an automobile, the pedestrian anti-splash method when there is a puddle on a driving route of an automobile comprising:
acquiring surrounding environment information of a vehicle;
judging whether the surrounding of the vehicle has a puddle according to the surrounding environment information of the vehicle, if so, then
Judging whether pedestrians are around the water pit according to the surrounding environment information of the vehicle, if so, then
Acquiring a vehicle navigation route;
judging whether the vehicle passes through the puddle or not according to the vehicle navigation route, if so, judging whether the vehicle passes through the puddle or not
Judging whether an obstacle avoidance route can be generated, if so, then
Generating an obstacle avoidance route.
Optionally, the acquiring the information of the surrounding environment of the vehicle includes:
acquiring surrounding environment point cloud data through a laser radar;
generating a three-dimensional model of the surrounding environment according to the surrounding environment point cloud data;
acquiring map plane data transmitted by high-precision map data, wherein the map plane data comprises name information of each building and geographical position information of the building;
and fusing the surrounding environment three-dimensional model with the name information of each building and the geographical position information of the building, so as to form vehicle surrounding environment information.
Optionally, the determining whether the vehicle has a puddle according to the vehicle surrounding environment information includes:
judging whether the vertical coordinates of the points forming the plane segment are close to the road surface according to the surrounding environment point cloud data acquired by the laser radar, if not, judging whether the vertical coordinates of the points forming the plane segment are close to the road surface
And judging that the water pit is arranged around the vehicle.
Optionally, the determining whether the water pit has pedestrians according to the surrounding environment information of the vehicle includes:
acquiring the position information of pedestrians according to the surrounding environment point cloud data acquired by the laser radar;
and judging whether pedestrians are around the puddle according to the position information of the puddle and the position information of the pedestrians.
Optionally, the acquiring the position information of the pedestrian according to the surrounding environment point cloud data acquired by the laser radar includes:
reducing the dimension of the surrounding environment point cloud data into a 2D depth picture;
identifying pedestrians in the 2D picture and marking the pedestrians in the 2D depth picture;
and calculating the position of each pedestrian according to the pixel depth information of the 2D depth picture.
Optionally, the determining whether the water pit has pedestrians around according to the position information of the water pit and the position information of the pedestrians includes:
acquiring the area information of the puddle according to the position information of the puddle;
generating a sputtering range of the puddle according to the area information of the puddle;
judging whether the position of the pedestrian is positioned in the sputtering range of the water pit, if so, then
And judging whether pedestrians are around the puddle.
Optionally, the generating the sputtering range of the puddle according to the area information of the puddle includes:
creating a splash model;
acquiring the current speed of the vehicle;
the acquired area information of the puddle and the current speed of the vehicle are brought into the splash model, so that the splash distance is acquired;
and acquiring a sputtering range according to the splashing distance and the area of the water pit.
Optionally, the pedestrian splash-proof method when the water pit exists on the automobile driving route further comprises the following steps:
judging whether pedestrians are around the puddle according to the surrounding environment information of the vehicle, if not, judging whether pedestrians are around the puddle
Judging whether pedestrians are on the periphery according to the surrounding environment information of the vehicle, if so, judging whether the pedestrians are on the periphery
Acquiring pedestrian walking estimated line information;
judging whether a pedestrian is positioned in the sputtering range of the puddle when the vehicle runs to the puddle according to the pedestrian walking estimated line information, if so, then
Judging whether an obstacle avoidance route can be generated, if so, then
Generating an obstacle avoidance route.
Optionally, the pedestrian splash-proof method when the water pit exists on the automobile driving route further comprises the following steps:
judging whether an obstacle avoidance route can be generated, if not, then
Generating prompt voice information and sending the prompt voice information to an external loudspeaker for playing.
The application also provides a pedestrian splashproof water installation when having the puddle on the automobile driving route, pedestrian splashproof water installation when having the puddle on the automobile driving route includes:
the vehicle surrounding environment information acquisition module is used for acquiring vehicle surrounding environment information;
the water pit judging module is used for judging whether water pits exist around the vehicle according to the surrounding environment information of the vehicle;
the pedestrian judging module is used for judging whether pedestrians are around the puddle according to the surrounding environment information of the vehicle when the puddle judging module judges that the pedestrians are around the puddle;
the vehicle navigation route acquisition module is used for acquiring a vehicle navigation route;
the vehicle route judging module is used for judging whether the vehicle passes through the puddle or not according to the vehicle navigation route;
the obstacle avoidance route judgment module is used for judging whether an obstacle avoidance route can be generated or not;
the obstacle avoidance route generation module is used for generating an obstacle avoidance route.
Advantageous effects
The application has the following advantages:
according to the pedestrian splashing prevention method when the water pit exists on the automobile driving route, whether pedestrians around the water pit are affected when the automobile passes through the water pit or not is comprehensively considered according to the water pit, pedestrians and the driving route of the automobile, if so, an obstacle avoidance route is generated, and therefore pedestrians are prevented from being affected.
Drawings
Fig. 1 is a schematic flow chart of a pedestrian splash-proof method when a puddle exists on an automobile driving route according to a first embodiment of the present application.
Fig. 2 is an electronic device for implementing a pedestrian splash-proof method when there is a puddle on the driving route of the automobile shown in fig. 1.
Fig. 3 is a schematic diagram showing pedestrian route prediction of a pedestrian splash-proof method when a puddle exists on the running route of the automobile shown in fig. 1.
Fig. 4 is a schematic diagram of a vehicle of the present application for implementing a pedestrian splash-proof method when there is a puddle on the vehicle running route of the present application.
Detailed Description
In order to make the purposes, technical solutions and advantages of the implementation of the present application more clear, the technical solutions in the embodiments of the present application will be described in more detail below with reference to the accompanying drawings in the embodiments of the present application. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some, but not all, of the embodiments of the present application. The embodiments described below by referring to the drawings are exemplary and intended for the purpose of explaining the present application and are not to be construed as limiting the present application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application. Embodiments of the present application are described in detail below with reference to the accompanying drawings.
Fig. 1 is a schematic flow chart of a pedestrian splash-proof method when a puddle exists on an automobile driving route according to a first embodiment of the present application.
The pedestrian splash-proof method for the water pit on the automobile running route shown in fig. 1 comprises the following steps:
step 1: acquiring surrounding environment information of a vehicle;
step 1: judging whether the surrounding of the vehicle has a puddle according to the surrounding environment information of the vehicle, if so, then
Step 2: judging whether pedestrians are around the water pit according to the surrounding environment information of the vehicle, if so, then
Step 3: acquiring a vehicle navigation route;
step 4: judging whether the vehicle passes through the puddle or not according to the vehicle navigation route, if so, judging whether the vehicle passes through the puddle or not
Step 5: judging whether an obstacle avoidance route can be generated, if so, then
Step 6: generating an obstacle avoidance route.
According to the pedestrian splashing prevention method when the water pit exists on the automobile driving route, whether pedestrians around the water pit are affected when the automobile passes through the water pit or not is comprehensively considered according to the water pit, pedestrians and the driving route of the automobile, if so, an obstacle avoidance route is generated, and therefore pedestrians are prevented from being affected.
In this embodiment, the acquiring the vehicle surrounding environment information includes:
acquiring surrounding environment point cloud data through a laser radar;
generating a three-dimensional model of the surrounding environment according to the surrounding environment point cloud data;
acquiring map plane data transmitted by high-precision map data, wherein the map plane data comprises name information of each building and geographical position information of the building;
and fusing the surrounding environment three-dimensional model with the name information of each building and the geographical position information of the building, so as to form vehicle surrounding environment information.
Specifically, the surrounding environment point cloud data (obtained by a visual SLAM mode, the english name of SLAM is Simultaneous Localization and Mapping, the chinese name is "instant positioning and map creation", and the visual SLAM is to complete the sensing work of the environment by using a camera) can be obtained by the laser radar on the vehicle, so as to obtain the information of dynamic vehicles, pedestrians, obstacles, puddles and the like around the vehicle.
In this embodiment, the accurate position of the vehicle in the map road network can also be obtained through the high-precision map and the positioning information, so that the information of the periphery of the current position of the vehicle, such as an intersection, a restaurant, a coffee shop, a market, and the like, is obtained.
By the coordinate information provided by the high-precision map, each building in the three-dimensional model of the surrounding environment can be given a label, for example, when a certain building belongs to a coffee shop in the high-precision map from the coordinate, the label of the coffee shop is marked.
In this embodiment, the determining whether the vehicle has a puddle around according to the vehicle surrounding environment information includes:
judging whether the vertical coordinates of the points forming the plane segment are close to the road surface according to the surrounding environment point cloud data acquired by the laser radar, if not, judging whether the vertical coordinates of the points forming the plane segment are close to the road surface
And judging that the water pit is arranged around the vehicle.
Specifically, the puddle identification method is based on point cloud data acquisition of a laser radar.
Firstly, plane fragments in the point cloud are extracted by European cluster segmentation of PCL (Point Cloud Library), and kd-tree is constructed;
secondly, if the mounting position of the laser radar is fixed, the vertical coordinates of the road surface in the point cloud are known, and whether the vertical coordinates of points forming the plane segment are close to the road surface or not is searched in the plane segment of the kd-tree, so that whether the road surface is a puddle or not is judged; assuming that the planar segment vertices v1, v2, … vn coordinates are (x 1, y1, H1), (x 2, y2, H2), … (xn, yn, hn), the ground vertical coordinates are (H0), and the error threshold is (Et), the calculation method is:
|H 1 -H 0 |<E t ,...,|H n -H 0 |<E t 。
in this embodiment, the area of the puddle may be further calculated, specifically as follows:
the puddle is a plane segment in the three-dimensional point cloud, so that the position is known, and the area information of the puddle can be obtained according to an area calculation formula of the irregular polygon; assuming that the plane segment vertices v1, v2, … vn coordinates are (x 1, y1, H1), (x 2, y2, H2), … (xn, yn, hn), S is the puddle area, the puddle area calculation formula is:
in the present embodiment, determining whether there is a pedestrian around the puddle based on the vehicle surrounding environment information includes:
acquiring the position information of pedestrians according to the surrounding environment point cloud data acquired by the laser radar;
and judging whether pedestrians are around the puddle according to the position information of the puddle and the position information of the pedestrians.
Specifically, the obtaining the position information of the pedestrian according to the surrounding environment point cloud data obtained by the laser radar includes:
reducing the dimension of the surrounding environment point cloud data into a 2D depth picture;
identifying pedestrians in the 2D picture and marking the pedestrians in the 2D depth picture;
and calculating the position of each pedestrian according to the pixel depth information of the 2D depth picture.
For example, the 3D point cloud data is reduced to a 2D depth picture by using PCL range_image, pedestrians in the 2D picture are identified and marked in the 2D picture by using openelse open source library, and the positions of the pedestrians in the 3D space are calculated by combining the pixel depth information of the depth picture. The dimension reduction of the 3D data into 2D data is equivalent to a photographing principle, the 3D coordinates (x, y, z), the depth picture coordinates (u, v, D) and the camera internal parameters (fx, fy, cx, cy) are converted into the following formulas:
the formula for transforming the depth picture pixel point into the 3D coordinate is as follows:
z＝ds
in this embodiment, determining whether there is a pedestrian around the puddle according to the position information of the puddle and the position information of the pedestrian includes:
acquiring the area information of the puddle according to the position information of the puddle;
generating a sputtering range of the puddle according to the area information of the puddle;
judging whether the position of the pedestrian is positioned in the sputtering range of the water pit, if so, then
And judging whether pedestrians are around the puddle.
Specifically, the sputtering range for generating the puddle according to the puddle area information adopts the following method:
creating a splash model;
acquiring the current speed of the vehicle;
the acquired area information of the puddle and the current speed of the vehicle are brought into the splash model, so that the splash distance is acquired;
and acquiring a sputtering range according to the splashing distance and the area of the water pit.
Specifically, the splash model is generated based on experimental data and CFD simulation.
CFD english full name (Computational Fluid Dynamics), i.e. computational fluid dynamics, was simulated using simulation software "ANSYS CFD". Creating a splash distance model d=f (v, s, h), d is the splash distance, v is the vehicle speed, s is the sump area, and h is the water depth. And fitting a parameter equation of the model of the splash distance through the measured data and the simulation data. The point cloud data of the laser radar cannot extract the water depth data h of the water pit, so the h data is set to be a fixed value through experimental data, variables for determining the splashing distance are the vehicle speed v and the water pit area s, and the splashing distance of the data can be calculated by bringing the variables into a formula.
Knowing the area of the puddle, the position of the puddle and the splash distance of the puddle, the splash range of the puddle in the coordinate system of a vehicle can be obtained.
In the present application, the coordinate information of the person in the coordinate system where the vehicle is located is known, so that it is possible to know whether or not the pedestrian is within the sputtering range of the puddle.
It will be appreciated that, since the vehicle is typically located a distance from the puddle when the above determination is made, although no pedestrian may be within the splash zone at the time, there may be a pedestrian within the splash zone when the vehicle is driven to the puddle position, and therefore the pedestrian anti-splash method when there is a puddle on the vehicle driving route further includes:
judging whether pedestrians are around the puddle according to the surrounding environment information of the vehicle, if not, judging whether pedestrians are around the puddle
Judging whether pedestrians are on the periphery according to the surrounding environment information of the vehicle, if so, judging whether the pedestrians are on the periphery
Acquiring pedestrian walking estimated line information;
judging whether a pedestrian is positioned in the sputtering range of the puddle when the vehicle runs to the puddle according to the pedestrian walking estimated line information, if so, then
Judging whether an obstacle avoidance route can be generated, if so, then
Generating an obstacle avoidance route.
In this way, it is considered on the one hand whether a pedestrian is near the puddle or not, and on the other hand, whether it is possible for a pedestrian to approach the puddle while the vehicle is running.
The pedestrian walking estimated line information is obtained by adopting the following method:
the pedestrian track prediction method comprises the following steps: based on the 3D point cloud and the map database.
Step 1: and (3) reducing the dimension of the 3D point cloud data into a 2D depth picture by using PCL range_image, identifying pedestrians in the 2D picture by using an OpenPose open source library, marking the pedestrians in the 2D picture, and calculating the positions of the pedestrians in a 3D space by combining the pixel depth information of the depth picture. The dimension reduction of the 3D data into 2D data is equivalent to a photographing principle, the 3D coordinates (x, y, z), the depth picture coordinates (u, v, D) and the camera internal parameters (fx, fy, cx, cy) are converted into the following formulas:
the formula for transforming the depth picture pixel point into the 3D coordinate is as follows:
z＝ds
step 2: the pedestrian is tracked to determine the travelling direction, the pedestrian is tracked by adopting an optical flow algorithm, and based on the 2D picture data in the step 1, the basic principle of the optical flow method is that in two adjacent frames of images, the points (x, y) are shifted (u, v), so that the brightness of the two points before and after the movement is equal. The push formula is as follows:
I(x，y，t-1)＝I(x+u，y+v，t)
the first order linear taylor expansion is:
I(x+u，y+v，t)＝I(x，y，t-1)+I x u+I y v+I t
the two formulas are combined to obtain:
I x u+I y v+I t ＝0
the least square method solves:
step 3: and obtaining surrounding environment information including passable road network, intersections and shop information. These data are stored in the SQLite database, with reference to NDS (Navigation Data Standard), and the non-NDS standard data are stored in an extended table format, and the surrounding information is queried using GPS positioning information as a reference point. Mapping 3D point cloud data to real-world road network information is conversion of two coordinate systems, namely rotation and displacement, rotation parameters Rk1 between the two coordinate systems can be determined through the installation position and angle of a laser radar on a vehicle, displacement parameters Tk1 can be determined through the GPS positioning information of the vehicle and the position coordinates of the vehicle in the 3D point cloud, and a conversion matrix Tk1 is formed by the following steps:
referring to fig. 3, after the coordinate system is converted, pedestrians, passable road networks, intersections and shops are all located in a unified coordinate system, and the track of the pedestrians is predicted by calculating the probability that the pedestrians go to the intersections, go straight and enter a certain shop. In the database, the point and the communication information of the point are stored, weights are arranged in the communication information, the total weight of pedestrians reaching an intersection in a passable road network can be obtained through Dijkstra algorithm (Dijkstra algorithm is weighted directed graph shortest path algorithm), the total weight of pedestrians reaching a certain shop is obtained, the average value of the weights of each route is compared, the probability that the pedestrians walk the route is larger when the average value is smaller, the road network information is as follows, 3, vx represents points, rays represent connectivity, and numbers on the rays represent weights.
In this embodiment, according to the pedestrian walking estimated route information, whether the pedestrian is located in the sputtering range of the puddle when the vehicle runs to the puddle is determined, specifically, the following method is adopted:
and judging whether water in the water pit can splash to pedestrians when the vehicle passes through. When the vehicle starts lane-level navigation in the driving process and sets a destination, a navigation algorithm calculates a route from the current position to the destination based on road network information in a database, and a driver drives according to the navigation route. When a puddle appears in the front, whether the tire passes through the puddle or not is calculated, namely whether a puddle polygon has a focus with a broken line which the tire is about to pass through, the intersection point of straight lines where two line segments are located is firstly calculated, and then whether the intersection point is located on the two line segments is judged, wherein a calculation formula is as follows:
if the multi-deformation of the water pit is intersected with the broken line, calculating a polygon P1 in a sputtering range of water according to a speed, a water pit area and a water pit default depth value by using a formula d=f (v, s, h), judging whether the polygon P1 is intersected with a predicted pedestrian track broken line or not by using the method, and then calculating the moment when the vehicle runs to the water pit and the moment when the pedestrian reaches the sputtering area according to the speed, so as to judge whether the pedestrian can be sputtered.
In this embodiment, the following method is used to determine whether the obstacle avoidance line can be generated:
when it is judged that pedestrians are sputtered, a route reaching a target is firstly attempted to be re-planned from the current position to avoid the puddle, the method is that the weight of the route with the puddle as an intersection of an obstacle is set to be infinite, and the puddle can be avoided when the Dijkstra algorithm is used for carrying out route planning exploration. If the route planning fails at this time, the obstacle avoidance route cannot be generated, namely the vehicle has to pass through the puddle and then runs according to the originally planned route, and meanwhile, the driver is reminded of decelerating.
In this embodiment, the pedestrian splash-proof method when there is a puddle on the driving route of the automobile further includes:
judging whether an obstacle avoidance route can be generated, if not, then
Generating prompt voice information and sending the prompt voice information to an external loudspeaker for playing.
It will be appreciated that in-vehicle reminder information may also be generated to alert the driver.
The application also provides a pedestrian splash-proof device when the water pit exists on the automobile driving route, the pedestrian splash-proof device when the water pit exists on the automobile driving route comprises a vehicle surrounding environment information acquisition module, a water pit judgment module, a pedestrian judgment module, a vehicle navigation route acquisition module, a vehicle route judgment module, an obstacle avoidance route judgment module and an obstacle avoidance route generation module, wherein,
the vehicle surrounding environment information acquisition module is used for acquiring vehicle surrounding environment information;
the water pit judging module is used for judging whether water pits exist around the vehicle according to the surrounding environment information of the vehicle;
the pedestrian judgment module is used for judging whether pedestrians are around the puddle according to the surrounding environment information of the vehicle when the puddle judgment module judges that the pedestrian is yes;
the vehicle navigation route acquisition module is used for acquiring a vehicle navigation route;
the vehicle route judging module is used for judging whether the vehicle passes through the puddle or not according to the vehicle navigation route;
the obstacle avoidance route judgment module is used for judging whether an obstacle avoidance route can be generated or not;
the obstacle avoidance route generation module is used for generating an obstacle avoidance route.
Referring to fig. 4, the application further provides a vehicle, which comprises a vehicle positioning information module, a traffic environment information module, a surrounding environment construction module, a vehicle state information module, a water pit information processing module, a pedestrian track prediction module, a pedestrian route planning module and a comprehensive analysis and judgment module, wherein the vehicle positioning information module, the traffic environment information module and the surrounding environment construction module are deployed in an automatic driving domain controller; the vehicle state information module is deployed in the vehicle body domain controller; the water pit information processing module, the pedestrian track prediction module, the pedestrian route planning module and the comprehensive analysis judging module are deployed in the cabin area controller; the reminding information and the new route information of the driver are displayed on an instrument screen; the pedestrian is reminded to use the external loudspeaker of the vehicle.
In this embodiment, the above modules all transmit information to the pedestrian anti-splash device when there is a puddle on the vehicle running route of the present application, so that the pedestrian anti-splash device when there is a puddle on the vehicle running route of the present application can perform the pedestrian anti-splash method when there is a puddle on the vehicle running route as above through the transmission of the above modules.
In this example, the vehicle positioning information module implementation: the high-precision map depended graph manufacturer provides static information such as vehicle road network information, buildings and the like collected by the high-precision map depended graph manufacturer; positioning accuracy of sub-meter level or even centimeter level is achieved through an RTK positioning technology, and relevant information of a vehicle road network, a road network and surrounding buildings around the vehicle is obtained from a high-definition map in a query mode; inertial navigation is used to infer the position of the vehicle after loss of the RTK signal.
Traffic environment information module implementation: the laser radar, the millimeter wave radar and the ultrasonic radar respectively deal with obstacle detection of different scenes, such as distance, sunny foggy days and the like, and the data of the radar sensor are used for constructing a virtual 3D surrounding environment taking a vehicle as a center through a SLAM algorithm; the camera data is input into a trained deep learning algorithm, and information such as vehicles, pedestrians, puddles, road edges and the like is identified; two-dimensional projection is carried out on the virtual 3D surrounding environment by using the same parameters of a camera, and the gradient descent algorithm is used for matching the vehicles, pedestrians, puddles, road edges and the like identified in the deep learning algorithm with the obstacles in the two-dimensional projection of the virtual 3D environment, so that the distances and the sizes of the vehicles, the pedestrians, the puddles and the like are obtained; the moving direction and moving speed of the pedestrian are confirmed by recording the track of the tracked pedestrian.
Ambient environment building block implementation: the module is used for fusing information of vehicles, pedestrians, puddles and the like identified in the traffic information module with driving road network information, pedestrian road network information and surrounding building information output by the vehicle positioning information module to construct a complete surrounding environment 3D model; and transforming the coordinates of the output data of the traffic information module into coordinates in a coordinate system of the output information of the vehicle positioning information module, and finishing information fusion.
Vehicle status information module implementation: the data of the vehicle speed sensor and the angle sensor are filtered, and the processed data are provided for other domains of the vehicle.
Sump information processing module implementation: a sputter range model of puddle size, vehicle speed was created from experimental data.
Pedestrian trajectory prediction module implementation: based on pedestrian road network information, namely the passable atomic road segments provided by the map maker and the connectivity of the passable atomic road segments, roadside shop information and weights of the atomic road segments leading to the shops in different seasons and time periods; assigning an additional weight to the atomic road segments around the pedestrian based on the traveling direction of the pedestrian; the Dijkstra algorithm is used for calculating different destination routes of pedestrians, such as a route to a shop, a route to a road at an intersection, an executed route, the accumulated weight of each route is calculated, and the most probable route of the pedestrian can be determined by comparing the weights.
Driving route planning module implementation: the module plans a driving route, directly moves or changes lanes and the like according to the driving route network information and surrounding obstacle conditions; if the comprehensive analysis judging module determines that the own vehicle affects pedestrians through the puddle, the puddle is used as an obstacle to re-plan a route, and the re-planning fails. The route planning module also uses Dijkstra algorithm to plan the lane-level route from the current location to the destination. And a strategy for keeping the current lane attribute is adopted for the scene of which the destination is not set, namely, keeping straight in a straight lane and keeping right turn in a right turn lane.
Implementation scheme of comprehensive analysis and judgment module: firstly judging whether a driving route intersects with a water pit position or not, and immediately judging by an algorithm of a point-fold line distance; if the current speed is equal to the current speed, a sputtering range model is obtained according to the current speed and the sputtering range model; judging whether the sputtering range intersects with the predicted track of the pedestrian again, and judging by adopting a broken line and point distance algorithm; if the pedestrian trajectory intersects the sputtering zone, the route planning module is notified to re-plan the route with the puddle as an obstacle.
It should be noted that the foregoing explanation of the method embodiment is also applicable to the system of the present embodiment, and is not repeated here.
The application also provides an electronic device, in this embodiment, the electronic device is an edge server, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor, where the processor implements the above pedestrian splash-proof method when there is a puddle on a driving route of an automobile when executing the computer program.
The application also provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program can realize the pedestrian splash-proof method when the water pit exists on the automobile driving route when being executed by a processor.
Fig. 2 is an exemplary structural diagram of an electronic device capable of implementing a pedestrian splash-proof method when there is a puddle on an automobile travel route provided according to one embodiment of the present application.
As shown in fig. 2, the electronic device includes an input device 501, an input interface 502, a central processor 503, a memory 504, an output interface 505, and an output device 506. The input interface 502, the central processing unit 503, the memory 504, and the output interface 505 are connected to each other through a bus 507, and the input device 501 and the output device 506 are connected to the bus 507 through the input interface 502 and the output interface 505, respectively, and further connected to other components of the electronic device. Specifically, the input device 504 receives input information from the outside, and transmits the input information to the central processor 503 through the input interface 502; the central processor 503 processes the input information based on computer executable instructions stored in the memory 504 to generate output information, temporarily or permanently stores the output information in the memory 504, and then transmits the output information to the output device 506 through the output interface 505; the output device 506 outputs the output information to the outside of the electronic device for use by the user.
That is, the electronic device shown in fig. 2 may also be implemented to include: a memory storing computer-executable instructions; and one or more processors that, when executing the computer-executable instructions, implement the pedestrian splash method described in connection with fig. 1 when there is a puddle on the vehicle travel route.
In one embodiment, the electronic device shown in FIG. 2 may be implemented to include: a memory 504 configured to store executable program code; the one or more processors 503 are configured to execute executable program code stored in the memory 504 to perform the pedestrian anti-splash method of the above embodiment when there is a puddle on the vehicle travel route.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.
Computer-readable media include both permanent and non-permanent, removable and non-removable media, and the media may be implemented in any method or technology for storage of information. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Furthermore, it is evident that the word "comprising" does not exclude other elements or steps. A plurality of units, modules or means recited in the apparatus claims can also be implemented by means of software or hardware by means of one unit or total means. The terms first, second, etc. are used to identify names, and not any particular order.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The processor referred to in this embodiment may be a central processing unit (Central Processing Unit, CPU), or other general purpose processor, digital signal processor (Digital Signal Processor, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory may be used to store computer programs and/or modules, and the processor may perform various functions of the apparatus/terminal device by executing or executing the computer programs and/or modules stored in the memory, and invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program (such as a sound playing function, an image playing function, etc.) required for at least one function, and the like; the storage data area may store data (such as audio data, phonebook, etc.) created according to the use of the handset, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, memory, plug-in hard disk, smart Media Card (SMC), secure Digital (SD) Card, flash Card (Flash Card), at least one disk storage device, flash memory device, or other volatile solid-state storage device.
In this embodiment, the modules/units of the apparatus/terminal device integration may be stored in a computer readable storage medium if implemented in the form of software functional units and sold or used as a separate product. Based on such understanding, the present invention may implement all or part of the flow of the method of the above embodiment, or may be implemented by hardware related to the instructions of a computer program, where the computer program may be stored in a computer readable storage medium, and when executed by a processor, the computer program may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, executable files or in some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth.
It should be noted that the content of the computer readable medium can be appropriately increased or decreased according to the requirements of the legislation and the practice of the patent in the jurisdiction. While the preferred embodiments have been described, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention, and it is intended that the scope of the invention shall be limited only by the claims appended hereto.
While the invention has been described in detail in the foregoing general description and with reference to specific embodiments thereof, it will be apparent to one skilled in the art that modifications and improvements can be made thereto. Accordingly, such modifications or improvements may be made without departing from the spirit of the invention and are intended to be within the scope of the invention as claimed.
Claims (10)
1. The pedestrian splashing prevention method for the water pit on the automobile driving route is characterized by comprising the following steps of:
acquiring surrounding environment information of a vehicle;
judging whether the surrounding of the vehicle has a puddle according to the surrounding environment information of the vehicle, if so, then
Judging whether pedestrians are around the water pit according to the surrounding environment information of the vehicle, if so, then
Acquiring a vehicle navigation route;
judging whether the vehicle passes through the puddle or not according to the vehicle navigation route, if so, judging whether the vehicle passes through the puddle or not
Judging whether an obstacle avoidance route can be generated, if so, then
Generating an obstacle avoidance route.
2. The method for preventing water splashing for pedestrians in the presence of a puddle on an automobile driving route according to claim 1, wherein the acquiring the surrounding environment information of the vehicle comprises:
acquiring surrounding environment point cloud data through a laser radar;
generating a three-dimensional model of the surrounding environment according to the surrounding environment point cloud data;
acquiring map plane data transmitted by high-precision map data, wherein the map plane data comprises name information of each building and geographical position information of the building;
and fusing the surrounding environment three-dimensional model with the name information of each building and the geographical position information of the building, so as to form vehicle surrounding environment information.
3. The method for preventing water splashing for pedestrians in the case of a puddle on an automobile driving route according to claim 2, wherein the determining whether the puddle exists around the vehicle according to the surrounding environment information of the vehicle comprises:
judging whether the vertical coordinates of the points forming the plane segment are close to the road surface according to the surrounding environment point cloud data acquired by the laser radar, if not, judging whether the vertical coordinates of the points forming the plane segment are close to the road surface
And judging that the water pit is arranged around the vehicle.
4. The method for preventing water splashing for pedestrians in the event of a puddle on a driving route of an automobile according to claim 3, wherein the determining whether a pedestrian is present around the puddle according to the surrounding information of the vehicle comprises:
acquiring the position information of pedestrians according to the surrounding environment point cloud data acquired by the laser radar;
and judging whether pedestrians are around the puddle according to the position information of the puddle and the position information of the pedestrians.
5. The method for preventing water splashing for pedestrians in the presence of puddles on an automobile driving route according to claim 4, wherein the step of obtaining the position information of the pedestrians according to the surrounding point cloud data obtained by the laser radar comprises the steps of:
reducing the dimension of the surrounding environment point cloud data into a 2D depth picture;
identifying pedestrians in the 2D picture and marking the pedestrians in the 2D depth picture;
and calculating the position of each pedestrian according to the pixel depth information of the 2D depth picture.
6. The method for preventing water splashing for pedestrians in case of a puddle on an automobile driving route according to claim 5, wherein the determining whether a pedestrian is present around the puddle according to the position information of the puddle and the position information of the pedestrian comprises:
acquiring the area information of the puddle according to the position information of the puddle;
generating a sputtering range of the puddle according to the area information of the puddle;
judging whether the position of the pedestrian is positioned in the sputtering range of the water pit, if so, then
And judging whether pedestrians are around the puddle.
7. The method for preventing splashing of pedestrians when there is a puddle on the driving route of the automobile according to claim 6, wherein the generating the splashing range of the puddle according to the area information of the puddle comprises:
creating a splash model;
acquiring the current speed of the vehicle;
the acquired area information of the puddle and the current speed of the vehicle are brought into the splash model, so that the splash distance is acquired;
and acquiring a sputtering range according to the splashing distance and the area of the water pit.
8. The pedestrian anti-splash method when there is a puddle on the vehicle travel route of claim 7, wherein the pedestrian anti-splash method when there is a puddle on the vehicle travel route further comprises:
judging whether pedestrians are around the puddle according to the surrounding environment information of the vehicle, if not, judging whether pedestrians are around the puddle
Judging whether pedestrians are on the periphery according to the surrounding environment information of the vehicle, if so, judging whether the pedestrians are on the periphery
Acquiring pedestrian walking estimated line information;
judging whether a pedestrian is positioned in the sputtering range of the puddle when the vehicle runs to the puddle according to the pedestrian walking estimated line information, if so, then
Judging whether an obstacle avoidance route can be generated, if so, then
Generating an obstacle avoidance route.
9. The pedestrian anti-splash method when there is a puddle on the vehicle travel route of claim 8, wherein the pedestrian anti-splash method when there is a puddle on the vehicle travel route further comprises:
judging whether an obstacle avoidance route can be generated, if not, then
Generating prompt voice information and sending the prompt voice information to an external loudspeaker for playing.
10. The utility model provides a pedestrian's splashproof water installation when having puddle on the car travel route, its characterized in that, pedestrian's splashproof water installation when having puddle on the car travel route includes:
the vehicle surrounding environment information acquisition module is used for acquiring vehicle surrounding environment information;
the water pit judging module is used for judging whether water pits exist around the vehicle according to the surrounding environment information of the vehicle;
the pedestrian judging module is used for judging whether pedestrians are around the puddle according to the surrounding environment information of the vehicle when the puddle judging module judges that the pedestrians are around the puddle;
the vehicle navigation route acquisition module is used for acquiring a vehicle navigation route;
the vehicle route judging module is used for judging whether the vehicle passes through the puddle or not according to the vehicle navigation route;
the obstacle avoidance route judgment module is used for judging whether an obstacle avoidance route can be generated or not;
the obstacle avoidance route generation module is used for generating an obstacle avoidance route.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310008932.XA CN116022133A (en) | 2023-01-04 | 2023-01-04 | Pedestrian splash-proof method and device when water pits exist on automobile driving route |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310008932.XA CN116022133A (en) | 2023-01-04 | 2023-01-04 | Pedestrian splash-proof method and device when water pits exist on automobile driving route |
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| CN116022133A true CN116022133A (en) | 2023-04-28 |
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| CN202310008932.XA Pending CN116022133A (en) | 2023-01-04 | 2023-01-04 | Pedestrian splash-proof method and device when water pits exist on automobile driving route |
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| Country | Link |
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| CN (1) | CN116022133A (en) |
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- 2023-01-04 CN CN202310008932.XA patent/CN116022133A/en active Pending
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