CN116740984B - Method, device, electronic device and storage medium for handling vehicle jam - Google Patents
Method, device, electronic device and storage medium for handling vehicle jam Download PDFInfo
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Abstract
本申请提供了一种车辆加塞的处理方法、装置、电子设备及存储介质,该方法包括:若在自车的预设范围内检测到存在加塞车辆,则获取自车的当前位置信息、加塞车辆的当前位置信息、自车和加塞车辆的相对航向角和相对车速;根据自车的当前位置信息、加塞车辆的当前位置信息、相对航向角和相对车速,确定自车与加塞车辆发生碰撞的目标位置,并确定加塞车辆的第一预测位置信息和自车的第二预测位置信息;根据第一预测位置信息和第二预测位置信息,确定加塞车辆与自车的横向重叠率;根据横向重叠率和横向重叠率阈值确定加塞处理策略。本申请根据加塞车辆与自车之间的横向重叠率来确定对应的加塞处理策略,保证了在有车辆进行加塞时自车的安全行驶。
The present application provides a method, device, electronic device and storage medium for handling a vehicle cutting in. The method includes: if a vehicle cutting in is detected within a preset range of the own vehicle, then the current position information of the own vehicle, the current position information of the vehicle cutting in, the relative heading angle and relative vehicle speed of the own vehicle and the vehicle cutting in are obtained; based on the current position information of the own vehicle, the current position information of the vehicle cutting in, the relative heading angle and the relative vehicle speed, the target position where the own vehicle and the vehicle cutting in are collided is determined, and the first predicted position information of the vehicle cutting in and the second predicted position information of the own vehicle are determined; based on the first predicted position information and the second predicted position information, the lateral overlap rate between the vehicle cutting in and the own vehicle is determined; and the cutting in handling strategy is determined based on the lateral overlap rate and the lateral overlap rate threshold. The present application determines the corresponding cutting in handling strategy based on the lateral overlap rate between the vehicle cutting in and the own vehicle, thereby ensuring the safe driving of the own vehicle when a vehicle cutting in is attempted.
Description
技术领域Technical Field
本申请涉及智能驾驶技术领域,更具体地,涉及一种车辆加塞的处理方法、装置、电子设备及存储介质。The present application relates to the field of intelligent driving technology, and more specifically, to a method, device, electronic device and storage medium for handling vehicle jamming.
背景技术Background technique
随着我国基础建设不断完善,道路网越来越便捷及密集,同时机动车数量也日益增多,且部分机动车驾驶员在驾驶机动车时不严格遵守交通规则,导致交通安全问题也日渐突出。近年来,为提升驾驶安全、减轻驾驶的驾驶负担,驾驶辅助系统功能也逐步被装配上车使用,但目前辅助驾驶系统无法很好地应对复杂的路况和驾驶行为,尤其针对车辆存在加塞的场景,因此如何在车辆的驾驶过程中存在其他车辆加塞的场景下,保证车辆的安全行驶的同时进行加塞处理成为亟待解决的问题。As my country's infrastructure continues to improve, the road network is becoming more and more convenient and dense. At the same time, the number of motor vehicles is also increasing, and some motor vehicle drivers do not strictly abide by traffic rules when driving motor vehicles, resulting in increasingly prominent traffic safety issues. In recent years, in order to improve driving safety and reduce the driving burden, driving assistance system functions have gradually been installed on vehicles for use, but the current assisted driving system cannot cope well with complex road conditions and driving behaviors, especially for scenarios where vehicles are cutting in. Therefore, how to ensure the safe driving of the vehicle while handling the cutting in when other vehicles are cutting in during the driving process of the vehicle has become an urgent problem to be solved.
发明内容Summary of the invention
有鉴于此,本申请实施例提出了一种车辆加塞的处理方法、装置、电子设备及存储介质,以改善上述问题。In view of this, the embodiments of the present application propose a method, device, electronic device and storage medium for handling vehicle jamming to improve the above-mentioned problem.
根据本申请实施例的第一个方面,提供了一种车辆加塞的处理方法,所述方法包括:若在自车的预设范围内检测到存在加塞车辆,则获取所述自车的当前位置信息、所述加塞车辆的当前位置信息、所述自车和所述加塞车辆的相对航向角和相对车速;根据所述自车的当前位置信息、所述加塞车辆的当前位置信息、所述相对航向角和所述相对车速,确定所述自车与所述加塞车辆发生碰撞的目标位置,并确定所述加塞车辆在所述目标位置的第一预测位置信息和所述自车在所述目标位置的第二预测位置信息;根据所述第一预测位置信息和所述第二预测位置信息,确定所述加塞车辆与所述自车的横向重叠率;根据所述横向重叠率和横向重叠率阈值之间的大小关系确定加塞处理策略,并根据所述加塞处理策略进行车速控制。According to the first aspect of an embodiment of the present application, a method for handling a vehicle cutting in is provided, the method comprising: if a vehicle cutting in is detected within a preset range of a self-vehicle, obtaining current position information of the self-vehicle, current position information of the vehicle cutting in, relative heading angle and relative vehicle speed of the self-vehicle and the vehicle cutting in; determining a target position where the self-vehicle and the vehicle cutting in collide based on the current position information of the self-vehicle, the current position information of the vehicle cutting in, the relative heading angle and the relative vehicle speed, and determining first predicted position information of the vehicle cutting in at the target position and second predicted position information of the self-vehicle at the target position; determining a lateral overlap rate between the vehicle cutting in and the self-vehicle based on the first predicted position information and the second predicted position information; determining a cutting in processing strategy based on the relationship between the lateral overlap rate and a lateral overlap rate threshold, and performing vehicle speed control based on the cutting in processing strategy.
根据本申请实施例的第一个方面,所述根据所述第一预测位置信息和所述第二预测位置信息,确定所述加塞车辆与所述自车的横向重叠率,包括:根据所述第一预测位置信息确定所述加塞车辆的第一目标点,以及根据所述第二预测位置信息确定所述自车的第二目标点和第三目标点,其中,所述第一目标点为所述加塞车辆的车头对应的两个点中与所述自车邻近的点,所述第二目标点和所述第三目标点为所述自车的车头对应的两个点;分别确定所述第一目标点的横向坐标、所述第二目标点的横向坐标和所述第三目标点的横向坐标,并根据所述第一目标点的横向坐标、所述第二目标点的横向坐标和所述第三目标点的横向坐标确定所述横向重叠率。本实施例通过根据自车在目标位置的第二预测位置对应的第二目标点和第三目标点以及加塞车辆在目标位置的第一预测位置信息对应的第一目标点来确定横向重叠率,保证了横向重叠率的准确性,进而提高加塞处理策略确定的准确性,保证了自车的安全行驶。According to the first aspect of the embodiment of the present application, the lateral overlap rate between the jamming vehicle and the self-vehicle is determined according to the first predicted position information and the second predicted position information, including: determining the first target point of the jamming vehicle according to the first predicted position information, and determining the second target point and the third target point of the self-vehicle according to the second predicted position information, wherein the first target point is the point adjacent to the self-vehicle among the two points corresponding to the front of the jamming vehicle, and the second target point and the third target point are the two points corresponding to the front of the self-vehicle; respectively determining the lateral coordinates of the first target point, the second target point and the third target point, and determining the lateral overlap rate according to the lateral coordinates of the first target point, the second target point and the third target point. This embodiment determines the lateral overlap rate according to the second target point and the third target point corresponding to the second predicted position of the self-vehicle at the target position and the first target point corresponding to the first predicted position information of the jamming vehicle at the target position, thereby ensuring the accuracy of the lateral overlap rate, thereby improving the accuracy of the jamming processing strategy determination and ensuring the safe driving of the self-vehicle.
根据本申请实施例的第一个方面,所述根据所述横向重叠率和横向重叠率阈值之间的大小关系确定加塞处理策略,并根据所述加塞处理策略进行车速控制,包括:若所述横向重叠率小于所述横向重叠率阈值,则确定所述加塞处理策略为第一加塞处理策略,并根据所述第一加塞处理策略进行加速控制;若所述横向重叠率等于或大于所述横向重叠率阈值,则确定所述策略为第二加塞处理策略,并根据所述第二加塞处理策略进行减速控制。本实施例通过根据横向重叠率与横向重叠率的大小关系来确定自车针对加塞车辆的加塞行为的具体策略,丰富了车辆针对不同场景的加塞处理策略。According to the first aspect of the embodiment of the present application, the jamming strategy is determined according to the size relationship between the lateral overlap rate and the lateral overlap rate threshold, and the vehicle speed is controlled according to the jamming strategy, including: if the lateral overlap rate is less than the lateral overlap rate threshold, the jamming strategy is determined to be the first jamming strategy, and acceleration control is performed according to the first jamming strategy; if the lateral overlap rate is equal to or greater than the lateral overlap rate threshold, the strategy is determined to be the second jamming strategy, and deceleration control is performed according to the second jamming strategy. This embodiment enriches the vehicle's jamming strategies for different scenarios by determining the specific strategy of the vehicle's jamming behavior for the jamming vehicle according to the size relationship between the lateral overlap rate and the lateral overlap rate.
根据本申请实施例的第一个方面,所述若所述横向重叠率小于横向重叠率阈值,则确定所述加塞处理策略为第一加塞处理策略,并根据所述第一加塞处理策略进行加速控制,包括:若所述横向重叠率小于所述横向重叠率阈值,则确定所述加塞车辆由所述加塞车辆的当前位置行驶至所述目标位置的横向距离,并根据所述加塞车辆的横向车速和所述横向距离确定目标时长,其中,所述目标时长为所述加塞车辆由所述加塞车辆的当前位置行驶所述至目标位置的时长;根据所述目标时长和所述加塞车辆的纵向车速,确定所述加塞车辆在所述目标时长内移动的纵向距离;获取安全距离,并根据所述安全距离、所述纵向距离、所述加塞车辆的纵向车速、所述自车的纵向车速以及所述目标时长确定目标加速度,并以所述目标加速度对所述自车进行加速控制,其中,所述安全距离为所述自车与所述加塞车辆在纵向上安全行驶的最小距离。本实施例在确定具体策略后,根据加塞车辆的横向车速和纵向车速以及保证自车安全行驶的安全距离来确定具体策略的加速度,保证了车辆安全行驶的同时也提高了自车对加塞行为的准确性。According to the first aspect of the embodiment of the present application, if the lateral overlap rate is less than the lateral overlap rate threshold, the jam-in handling strategy is determined to be the first jam-in handling strategy, and acceleration control is performed according to the first jam-in handling strategy, including: if the lateral overlap rate is less than the lateral overlap rate threshold, the lateral distance of the jam-in vehicle from the current position of the jam-in vehicle to the target position is determined, and a target duration is determined according to the lateral speed of the jam-in vehicle and the lateral distance, wherein the target duration is the duration for the jam-in vehicle to travel from the current position of the jam-in vehicle to the target position; according to the target duration and the longitudinal speed of the jam-in vehicle, the longitudinal distance moved by the jam-in vehicle within the target duration is determined; a safety distance is obtained, and a target acceleration is determined according to the safety distance, the longitudinal distance, the longitudinal speed of the jam-in vehicle, the longitudinal speed of the own vehicle and the target duration, and acceleration control is performed on the own vehicle with the target acceleration, wherein the safety distance is the minimum distance for the own vehicle and the jam-in vehicle to travel safely in the longitudinal direction. After determining the specific strategy, this embodiment determines the acceleration of the specific strategy based on the lateral speed and longitudinal speed of the vehicle cutting in and the safety distance to ensure the safe driving of the own vehicle, thereby ensuring the safe driving of the vehicle while also improving the accuracy of the own vehicle in cutting in.
根据本申请实施例的第一个方面,所述若所述横向重叠率等于或大于所述横向重叠率阈值,则确定所述策略为第二加塞处理策略,并根据所述第二加塞处理策略进行减速控制,包括:若所述横向重叠率等于或大于所述横向重叠率阈值,则确定所述加塞车辆由所述加塞车辆的当前位置行驶至所述目标位置的横向距离,并根据所述加塞车辆的横向车速和所述横向距离确定目标时长,其中,所述目标时长为所述加塞车辆由所述加塞车辆的当前位置行驶所述至目标位置的时长;根据所述目标时长和所述加塞车辆的纵向车速,确定所述加塞车辆在所述目标时长内移动的纵向距离;获取安全距离,并根据所述安全距离、所述纵向距离、所述加塞车辆的纵向车速、所述自车的纵向车速以及所述目标时长确定目标减速度,并以所述目标减速度对所述自车进行减速控制,其中,所述安全距离为所述自车与所述加塞车辆在纵向上安全行驶的最小距离。本实施例在确定具体策略后,根据加塞车辆的横向车速和纵向车速以及保证自车安全行驶的安全距离来确定具体策略的减速度,保证了车辆安全行驶的同时也提高了自车对加塞行为的准确性。According to the first aspect of the embodiment of the present application, if the lateral overlap rate is equal to or greater than the lateral overlap rate threshold, the strategy is determined to be a second jamming handling strategy, and deceleration control is performed according to the second jamming handling strategy, including: if the lateral overlap rate is equal to or greater than the lateral overlap rate threshold, the lateral distance traveled by the jamming vehicle from the current position of the jamming vehicle to the target position is determined, and a target duration is determined according to the lateral speed of the jamming vehicle and the lateral distance, wherein the target duration is the duration for the jamming vehicle to travel from the current position of the jamming vehicle to the target position; according to the target duration and the longitudinal speed of the jamming vehicle, the longitudinal distance moved by the jamming vehicle within the target duration is determined; a safety distance is obtained, and a target deceleration is determined according to the safety distance, the longitudinal distance, the longitudinal speed of the jamming vehicle, the longitudinal speed of the own vehicle and the target duration, and deceleration control is performed on the own vehicle at the target deceleration, wherein the safety distance is the minimum distance for the own vehicle and the jamming vehicle to travel safely in the longitudinal direction. After determining the specific strategy, this embodiment determines the deceleration of the specific strategy based on the lateral speed and longitudinal speed of the vehicle that cuts in and the safety distance to ensure the safe driving of the own vehicle, thereby ensuring the safe driving of the vehicle while also improving the accuracy of the own vehicle in dealing with the cutting behavior.
根据本申请实施例的第一个方面,所述根据所述自车的当前位置信息、所述加塞车辆的当前位置信息、所述相对航向角和所述相对车速,确定所述自车与所述加塞车辆发生碰撞的目标位置,并确定所述加塞车辆在所述目标位置的第一预测位置信息和所述自车在所述目标位置的第二预测位置信息,包括:根据所述自车的当前位置信息和所述相对航向角确定所述自车的第一预测行驶轨迹,以及根据所述加塞车辆的当前位置信息和所述相对航向角确定所述加塞车辆的第二预测行驶轨迹;若确定所述第一预测行驶轨迹和所述第二预测行驶轨迹存在交点,则将所述第一预测行驶轨迹和所述第二预测行驶轨迹的交点确定为所述目标位置;基于所述目标位置确定所述第一预测位置信息和所述第二预测位置信息。本实施例通过确定第一预测行驶轨迹和第二预测行驶轨迹是否存在交点来确定自车与加塞车辆是否会发生碰撞,并在存在交点时根据目标位置确定第一预测位置信息和第二预测位置信息,保证了自车对加塞车辆的加塞行为进行处理的准确性,并且在自车与加塞车辆会发生碰撞的情况下才确定第一预测位置信息和第二预测位置信息,提高自车的加塞处理的准确性,避免资源的浪费。According to the first aspect of an embodiment of the present application, the target position where the self-vehicle collides with the jam-in vehicle is determined based on the current position information of the self-vehicle, the current position information of the jam-in vehicle, the relative heading angle and the relative vehicle speed, and the first predicted position information of the jam-in vehicle at the target position and the second predicted position information of the self-vehicle at the target position are determined, including: determining the first predicted driving trajectory of the self-vehicle based on the current position information of the self-vehicle and the relative heading angle, and determining the second predicted driving trajectory of the jam-in vehicle based on the current position information of the jam-in vehicle and the relative heading angle; if it is determined that the first predicted driving trajectory and the second predicted driving trajectory have an intersection, determining the intersection of the first predicted driving trajectory and the second predicted driving trajectory as the target position; determining the first predicted position information and the second predicted position information based on the target position. This embodiment determines whether the own vehicle and the jam-in vehicle will collide by determining whether there is an intersection between the first predicted driving trajectory and the second predicted driving trajectory, and determines the first predicted position information and the second predicted position information according to the target position when there is an intersection, thereby ensuring the accuracy of the own vehicle's processing of the jam-in vehicle, and the first predicted position information and the second predicted position information are determined only when the own vehicle and the jam-in vehicle are likely to collide, thereby improving the accuracy of the own vehicle's jam-in processing and avoiding waste of resources.
根据本申请实施例的第一个方面,所述若在自车的预设范围内检测到存在加塞车辆,则获取所述自车的当前位置信息、所述加塞车辆的当前位置信息、所述自车和所述加塞车辆的相对航向角和相对车速之前,所述方法还包括:获取所述自车的当前航向角和所述自车的预设检测范围内的参考车辆的当前航向角,并确定所述自车的当前航向角与所述参考车辆的当前航向角之间的航向角差;在预设时长内确定所述自车与所述参考车辆之间的横向距离;若所述航向角差小于航向角阈值且所述自车与所述参考车辆之间的横向距离在所述预设时长内不断减小,则确定所述参考车辆存在加塞意图,并将所述参考车辆确定为所述加塞车辆。本实施例通过根据自车与自车的预测检测范围内的参考车辆之间的航向角差和预设时长内的横向距离来确定参考车辆是否存在加塞意图,在确定存在加塞意图时确定参考车辆为加塞车辆,提高对加塞车辆确定的准确性。According to the first aspect of the embodiment of the present application, if a jamming vehicle is detected within the preset range of the self-vehicle, before obtaining the current position information of the self-vehicle, the current position information of the jamming vehicle, the relative heading angle and relative speed of the self-vehicle and the jamming vehicle, the method further includes: obtaining the current heading angle of the self-vehicle and the current heading angle of the reference vehicle within the preset detection range of the self-vehicle, and determining the heading angle difference between the current heading angle of the self-vehicle and the current heading angle of the reference vehicle; determining the lateral distance between the self-vehicle and the reference vehicle within a preset time length; if the heading angle difference is less than the heading angle threshold and the lateral distance between the self-vehicle and the reference vehicle continuously decreases within the preset time length, it is determined that the reference vehicle has the intention to jam, and the reference vehicle is determined as the jamming vehicle. This embodiment determines whether the reference vehicle has the intention to jam according to the heading angle difference between the self-vehicle and the reference vehicle within the predicted detection range of the self-vehicle and the lateral distance within the preset time length, and determines the reference vehicle as the jamming vehicle when it is determined that there is the intention to jam, thereby improving the accuracy of determining the jamming vehicle.
根据本申请实施例的第二个方面,提供了一种车辆加塞的处理装置,所述装置包括:获取模块,用于若在自车的预设范围内检测到存在加塞车辆,则获取所述自车的当前位置信息、所述加塞车辆的当前位置信息、所述自车和所述加塞车辆的相对航向角和相对车速;预测位置信息确定模块,用于根据所述自车的当前位置信息、所述加塞车辆的当前位置信息、所述相对航向角和所述相对车速,确定所述自车与所述加塞车辆发生碰撞的目标位置,并确定所述加塞车辆在所述目标位置的第一预测位置信息和所述自车在所述目标位置的第二预测位置信息;横向重叠率确定模块,用于根据所述第一预测位置信息和所述第二预测位置信息,确定所述加塞车辆与所述自车的横向重叠率;加塞处理策略确定模块,用于根据所述横向重叠率和横向重叠率阈值之间的大小关系确定加塞处理策略,并根据所述加塞处理策略进行车速控制。According to a second aspect of an embodiment of the present application, a device for processing a vehicle cutting in is provided, the device comprising: an acquisition module, for acquiring current position information of the own vehicle, current position information of the cutting in vehicle, relative heading angle and relative vehicle speed of the own vehicle and the cutting in vehicle if a cutting in vehicle is detected within a preset range of the own vehicle; a predicted position information determination module, for determining a target position where the own vehicle collides with the cutting in vehicle based on the current position information of the own vehicle, the current position information of the cutting in vehicle, the relative heading angle and the relative vehicle speed, and determining first predicted position information of the cutting in vehicle at the target position and second predicted position information of the own vehicle at the target position; a lateral overlap rate determination module, for determining a lateral overlap rate between the cutting in vehicle and the own vehicle based on the first predicted position information and the second predicted position information; a cutting in processing strategy determination module, for determining a cutting in processing strategy based on the relationship between the lateral overlap rate and a lateral overlap rate threshold, and performing vehicle speed control based on the cutting in processing strategy.
根据本申请实施例的第三个方面,提供了一种电子设备,包括:处理器;存储器,所述存储器上存储有计算机可读指令,所述计算机可读指令被所述处理器执行时,实现如上所述车辆加塞的处理方法。According to a third aspect of an embodiment of the present application, there is provided an electronic device, comprising: a processor; and a memory, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the method for processing vehicle jamming as described above is implemented.
根据本申请实施例的第四个方面,提供了一种计算机可读存储介质,其上存储有计算机可读指令,当所述计算机可读指令被处理器执行时,实现如上所述车辆加塞的处理方法。According to a fourth aspect of an embodiment of the present application, a computer-readable storage medium is provided, on which computer-readable instructions are stored. When the computer-readable instructions are executed by a processor, the method for processing vehicle jamming as described above is implemented.
在本申请的方案中,通过在确定自车的预测范围内检测到加塞车辆的情况下,根据自车的当前位置信息、加塞车辆的当前位置信息、自车和加塞车辆的相对航向角和相对车速来确定自车与加塞车辆发生碰撞的目标位置,并确定自车在目标位置的第二预测位置信息和加塞车辆在目标位置的第一预测位置信息,进而能够根据第一预测位置信息和第二预测位置信息来确定自车与加塞车辆之间的横向重叠率,以此,能够根据横向重叠率来确定自车针对加塞车辆的加塞行为的加塞处理策略,进而根据确定的加塞处理策略对自车进行控制。本申请能够在确定存在加塞车辆的情况下,根据加塞车辆与自车之间的横向重叠率来确定对应的加塞处理策略,丰富了车辆针对不同场景的加塞处理策略,避免任何情况下对有加塞意图的加塞车辆均采取制动避让,并且保证了在有车辆进行加塞时自车的安全行驶。In the scheme of the present application, when a jamming vehicle is detected within the prediction range of the self-vehicle, the target position where the self-vehicle collides with the jamming vehicle is determined based on the current position information of the self-vehicle, the current position information of the jamming vehicle, the relative heading angle and relative speed of the self-vehicle and the jamming vehicle, and the second predicted position information of the self-vehicle at the target position and the first predicted position information of the jamming vehicle at the target position are determined, and then the lateral overlap rate between the self-vehicle and the jamming vehicle can be determined based on the first predicted position information and the second predicted position information, so that the jamming handling strategy of the self-vehicle for the jamming behavior of the jamming vehicle can be determined based on the lateral overlap rate, and then the self-vehicle is controlled according to the determined jamming handling strategy. The present application can determine the corresponding jamming handling strategy based on the lateral overlap rate between the jamming vehicle and the self-vehicle when it is determined that there is a jamming vehicle, enriching the jamming handling strategy of the vehicle for different scenarios, avoiding braking avoidance for jamming vehicles with jamming intentions under any circumstances, and ensuring the safe driving of the self-vehicle when a vehicle is jamming.
应当理解的是,以上的一般描述和后文细节描述仅是示例性和解释性的,并不能限制本发明。It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
此处的附图被并入说明书中并构成本说明书的一部分,示出了符合本申请的实施例,并与说明书一起用于解释本申请的原理。显而易见地,下面描述中的附图仅仅是本申请的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其他的附图。The drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.
图1是根据本申请一实施例示出的车辆加塞的处理方法的流程示意图。FIG1 is a flow chart of a method for handling vehicle jamming according to an embodiment of the present application.
图2是根据本申请另一实施例示出的车辆加塞的处理方法的流程示意图。FIG2 is a flow chart of a method for handling vehicle jamming according to another embodiment of the present application.
图3是根据本申请一实施例示出的横向重叠率的示意图。FIG. 3 is a schematic diagram showing a lateral overlap ratio according to an embodiment of the present application.
图4是根据本申请还一实施例示出的车辆加塞的处理方法的流程示意图。FIG. 4 is a flow chart of a method for handling a vehicle jamming in accordance with another embodiment of the present application.
图5是根据本申请一实施例示出的步骤340的具体步骤的流程示意图。FIG. 5 is a flowchart showing specific steps of step 340 according to an embodiment of the present application.
图6是根据本申请一实施例示出的步骤350的具体步骤的流程示意图。FIG. 6 is a flowchart showing specific steps of step 350 according to an embodiment of the present application.
图7是根据本申请又一实施例示出的车辆加塞的处理方法的流程示意图。FIG. 7 is a flow chart of a method for handling vehicle jamming according to yet another embodiment of the present application.
图8是根据本申请一实施例示出的确定目标位置的示意图。FIG. 8 is a schematic diagram showing a method of determining a target position according to an embodiment of the present application.
图9是根据本申请再一实施例示出的车辆加塞的处理方法的流程示意图。FIG. 9 is a flow chart of a method for handling vehicle jamming according to yet another embodiment of the present application.
图10是根据本申请一实施例示出的车辆加塞的处理装置的框图。FIG. 10 is a block diagram of a device for processing vehicle jamming according to an embodiment of the present application.
图11是根据本申请一实施例示出的电子设备的硬件结构图。FIG. 11 is a hardware structure diagram of an electronic device according to an embodiment of the present application.
通过上述附图,已示出本发明明确的实施例,后文中将有更详细的描述,这些附图和文字描述并不是为了通过任何方式限值本发明构思的范围,而是通过特定实施例为本领域计算书人员说明本发明的概念。The above-mentioned drawings have shown clear embodiments of the present invention, which will be described in more detail hereinafter. These drawings and textual descriptions are not intended to limit the scope of the present invention in any way, but to illustrate the concept of the present invention to computer technicians in this field through specific embodiments.
具体实施方式Detailed ways
现在将参考附图更全面地描述示例实施方式。然而,示例实施方式能够以多种形式实施,且不应被理解为限于在此阐述的范例;相反,提供这些实施方式使得本申请将更加全面和完整,并将示例实施方式的构思全面地传达给本领域的技术人员。Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this application will be more comprehensive and complete and fully convey the concept of example embodiments to those skilled in the art.
需要说明的是,本发明的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象,而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换,以便这里描述的本发明的实施例能够以除了在这里图示或描述的那些以外的顺序实施。此外,术语“包括”和“具有”以及他们的任何变形,意图在于覆盖不排他的包含,例如,包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于清楚地列出的那些步骤或单元,而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.
此外,所描述的特征、结构或特性可以以任何合适的方式结合在一个或更多实施例中。在下面的描述中,提供许多具体细节从而给出对本申请的实施例的充分理解。然而,本领域技术人员将意识到,可以实践本申请的技术方案而没有特定细节中的一个或更多,或者可以采用其它的方法、装置、步骤等。在其它情况下,不详细示出或描述公知方法、装置、实现或者操作以避免模糊本申请的各方面。In addition, described feature, structure or characteristic can be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present application. However, those skilled in the art will appreciate that the technical scheme of the present application can be put into practice without one or more of the specific details, or other methods, devices, steps, etc. can be adopted. In other cases, known methods, devices, realizations or operations are not shown or described in detail to avoid blurring the various aspects of the application.
附图中所示的方框图仅仅是功能实体,不一定必须与物理上独立的实体相对应。即,可以采用软件形式来实现这些功能实体,或在一个或多个硬件模块或集成电路中实现这些功能实体,或在不同网络和/或处理器装置和/或微控制器装置中实现这些功能实体。附图中所示的流程图仅是示例性说明,不是必须包括所有的内容和操作/步骤,也不是必须按所描述的顺序执行。例如,有的操作/步骤还可以分解,而有的操作/步骤可以合并或部分合并,因此实际执行的顺序有可能根据实际情况改变。The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices. The flowcharts shown in the accompanying drawings are merely exemplary and do not necessarily include all the contents and operations/steps, nor do they necessarily have to be executed in the order described. For example, some operations/steps may be further decomposed, while some operations/steps may be combined or partially combined, so the actual execution order may change according to the actual situation.
请参阅图1,图1示出了本申请一实施例提供的车辆加塞的处理方法,在具体的实施例中,该车辆加塞的处理方法可以应用于如图10所示的车辆加塞的处理装置600以及配置有车辆加塞的处理装置600的电子设备700(图11)。下面将说明本实施例的具体流程,当然,可以理解的,该方法可以由具备计算处理能力的电子设备执行,电子设备例如服务器、与车辆通信连接的智能手机、智能穿戴设备、车辆处理器等,在此不进行具体限定。下面将针对图1所示的流程进行详细的阐述,所述车辆加塞的处理方法具体可以包括以下步骤:Please refer to Figure 1, which shows a method for processing vehicle jamming provided by an embodiment of the present application. In a specific embodiment, the method for processing vehicle jamming can be applied to a vehicle jamming processing device 600 as shown in Figure 10 and an electronic device 700 (Figure 11) equipped with the vehicle jamming processing device 600. The specific process of this embodiment will be described below. Of course, it can be understood that the method can be executed by an electronic device with computing and processing capabilities, such as a server, a smart phone connected to a vehicle for communication, a smart wearable device, a vehicle processor, etc., which is not specifically limited here. The process shown in Figure 1 will be described in detail below. The method for processing vehicle jamming can specifically include the following steps:
步骤110,若在自车的预设范围内检测到存在加塞车辆,则获取所述自车的当前位置信息、所述加塞车辆的当前位置信息、所述自车和所述加塞车辆的相对航向角和相对车速。Step 110: If a jamming vehicle is detected within a preset range of the own vehicle, the current position information of the own vehicle, the current position information of the jamming vehicle, the relative heading angle and relative speed of the own vehicle and the jamming vehicle are obtained.
作为一种方式,在车辆的正常行驶过程中如果有车辆进行加塞可能会导致自车与加塞车辆发生碰撞,为了保证车辆的安全行驶,则可以在自车的预设范围内检测是否存在加塞车辆,以此来确定在存在加塞车辆时能够及时进行加塞处理,避免自车与加塞车辆发生碰撞。可选的,预设范围可以是自车的感知模块所能检测的最大范围。其中,车辆的感知模块中可包括处理器和多种传感器。可选的,传感器可包括视觉传感器、红外传感器、雷达传感器和毫米波传感器等,可根据实际需要来设定感知模块中的传感器的种类和数量,在此不进行具体限定。As a method, if a vehicle cuts in during the normal driving of the vehicle, it may cause a collision between the vehicle and the cutting vehicle. In order to ensure the safe driving of the vehicle, it is possible to detect whether there is a cutting vehicle within a preset range of the vehicle, so as to determine whether the cutting vehicle can be processed in time when there is a cutting vehicle, so as to avoid a collision between the vehicle and the cutting vehicle. Optionally, the preset range may be the maximum range that can be detected by the perception module of the vehicle. Among them, the perception module of the vehicle may include a processor and a variety of sensors. Optionally, the sensor may include a visual sensor, an infrared sensor, a radar sensor, a millimeter wave sensor, etc. The type and quantity of sensors in the perception module may be set according to actual needs, and are not specifically limited here.
作为一种方式,可通过自车的定位模块来获取自车的当前位置信息,并通过定位模块的定位数据和感知模块中的视觉传感器的视觉传感数据进行数据融合,以此来确定加塞车辆的当前位置信息。可选的,可通过自车的感知模块来获取自车和加塞车辆的相对航向角和相对车速,例如,通过自车的感知模块中的雷达传感器确定加塞车辆的当前车速和当前航向角,以及通过感知模块获取自车的当前航向角和当前车速,进而基于自车的当前航向角和当前车速以及加塞车辆的当前航向角和当前车速来确定自车和加塞车辆的相对航向角和相对车速。As a method, the current position information of the vehicle can be obtained through the positioning module of the vehicle, and the positioning data of the positioning module and the visual sensor data of the visual sensor in the perception module are used to perform data fusion to determine the current position information of the vehicle that cuts in. Optionally, the relative heading angle and relative speed of the vehicle and the vehicle that cuts in can be obtained through the perception module of the vehicle. For example, the current speed and current heading angle of the vehicle that cuts in can be determined through the radar sensor in the perception module of the vehicle, and the current heading angle and current speed of the vehicle can be obtained through the perception module, and then the relative heading angle and relative speed of the vehicle and the vehicle that cuts in can be determined based on the current heading angle and current speed of the vehicle and the current heading angle and current speed of the vehicle that cuts in.
步骤120,根据所述自车的当前位置信息、所述加塞车辆的当前位置信息、所述相对航向角和所述相对车速,确定所述自车与所述加塞车辆发生碰撞的目标位置,并确定所述加塞车辆在所述目标位置的第一预测位置信息和所述自车在所述目标位置的第二预测位置信息。Step 120, based on the current position information of the own vehicle, the current position information of the jam-in vehicle, the relative heading angle and the relative vehicle speed, determine the target position where the own vehicle collides with the jam-in vehicle, and determine the first predicted position information of the jam-in vehicle at the target position and the second predicted position information of the own vehicle at the target position.
作为一种方式,自车的辅助驾驶系统可根据自车的当前位置信息和自车的当前航向角和当前车速来确定自车的行驶轨迹和预测行驶轨迹,以及根据加塞车辆的当前位置信息和自车与加塞车辆之间的相对航向角和相对车速来确定加塞车辆的行驶轨迹和预测行驶轨迹。基于自车的预测行驶轨迹和加塞车辆的预测行驶轨迹来确定自车与加塞车辆之间按照当前的航向角和当前的车速来行驶是否会发生碰撞,进而在确定会发生碰撞的情况下根据自车的预测行驶轨迹和加塞车辆的预测行驶轨迹确定发生碰撞的目标位置,并根据目标位置分别确定自车在目标位置的第二预测位置信息和加塞车辆在目标位置的第一预测位置信息。As a method, the assisted driving system of the vehicle can determine the driving trajectory and predicted driving trajectory of the vehicle according to the current position information of the vehicle, the current heading angle of the vehicle and the current speed of the vehicle, and determine the driving trajectory and predicted driving trajectory of the jamming vehicle according to the current position information of the jamming vehicle and the relative heading angle and relative speed between the vehicle and the jamming vehicle. Based on the predicted driving trajectory of the vehicle and the predicted driving trajectory of the jamming vehicle, it is determined whether a collision will occur between the vehicle and the jamming vehicle if they travel at the current heading angle and the current speed. Then, if it is determined that a collision will occur, the target position of the collision is determined according to the predicted driving trajectory of the vehicle and the predicted driving trajectory of the jamming vehicle, and the second predicted position information of the vehicle at the target position and the first predicted position information of the jamming vehicle at the target position are determined according to the target positions.
可选的,第一预测位置信息可包括加塞车辆在目标位置的车身尺寸的四个角点的具体坐标值,第二预测位置信息可包括自车在目标位置的车身尺寸的四个角点的具体坐标值,可选的,车身尺寸的四个角点可以是分别对应车头的两个角点和车尾对应的两个角点。Optionally, the first predicted position information may include the specific coordinate values of the four corner points of the body size of the vehicle that is cutting in at the target position, and the second predicted position information may include the specific coordinate values of the four corner points of the body size of the vehicle at the target position. Optionally, the four corner points of the body size may be two corner points corresponding to the front of the vehicle and two corner points corresponding to the rear of the vehicle, respectively.
在另一些实施例中,可以根据自车的车身尺寸、加塞车辆的车身尺寸、自车与加塞车辆的相对航向角及相对车速,以预测的采样频率实时预测预设范围内自车与加塞车辆的相对位置(即分别预测预设范围内自车和加塞车辆的车身尺寸对应的四个角点坐标),同时实时判断自车与加塞车辆邻近的车头的角点是否位于加塞车辆与自车邻近的车头角点和车位角点所构成的直线上,且自车与加塞车辆邻近的车头的角点的横坐标位于加塞车辆与自车邻近的车头角点和车位角点的横坐标之间,则确定自车和加塞车辆以当前相对航向角和相对车速进行行驶会发生碰撞,则记录该发生碰撞的目标位置以及自车在目标位置的第二预测位置信息和加塞车辆在目标位置的第一预测位置信息。例如,若实时预测到自车与加塞车辆邻近的车头的角点为ego1(x1,y1)、加塞车辆的与自车邻近的车头角点为target0(x0,y0)、加塞车辆的与自车邻近的车位角点为target2(x2,y2),则先根据target0和target2确定加塞车辆与自车邻近的车头角点和车位角点所构成的直线y=kx+b,其中, 然后,将ego1(x1,y1)代入至直线方程中,来确定自车与加塞车辆邻近的车头的角点是否位于加塞车辆与自车邻近的车头角点和车位角点所构成的直线上,当确定在直线上且x0<x1<x2,则确定自车会与加塞车辆发生碰撞,此时可根据ego1确定自车的第二预测位置信息、根据target0和target2确定加塞车辆的第一预测位置信息。In other embodiments, the relative positions of the own vehicle and the jamming vehicle within a preset range can be predicted in real time at a predicted sampling frequency based on the body size of the own vehicle, the body size of the jamming vehicle, the relative heading angle and relative speed between the own vehicle and the jamming vehicle (i.e., the coordinates of the four corner points corresponding to the body sizes of the own vehicle and the jamming vehicle within the preset range are predicted respectively). At the same time, it is determined in real time whether the corner points of the front of the own vehicle and the jamming vehicle adjacent to each other are located on the straight line formed by the corner points of the front of the jamming vehicle and the corner points of the parking space adjacent to the own vehicle, and the horizontal coordinates of the corner points of the front of the own vehicle and the jamming vehicle adjacent to each other are located between the horizontal coordinates of the corner points of the front of the jamming vehicle and the corner points of the parking space adjacent to the own vehicle. If this is the case, it is determined that the own vehicle and the jamming vehicle will collide if they travel at the current relative heading angle and relative speed. Then, the target position of the collision as well as the second predicted position information of the own vehicle at the target position and the first predicted position information of the jamming vehicle at the target position are recorded. For example, if it is predicted in real time that the corner point of the front of the ego vehicle and the jamming vehicle is adjacent to ego1(x1,y1), the corner point of the front of the jamming vehicle and the ego vehicle is target0(x0,y0), and the corner point of the parking space of the jamming vehicle and the ego vehicle is target2(x2,y2), then first determine the straight line y=kx+b formed by the corner point of the front of the jamming vehicle and the corner point of the parking space according to target0 and target2, where Then, ego1(x1,y1) is substituted into the straight line equation to determine whether the corner point of the front of the ego vehicle adjacent to the jamming vehicle is located on the straight line formed by the corner point of the front of the jamming vehicle adjacent to the ego vehicle and the corner point of the parking space. When it is determined to be on the straight line and x0<x1<x2, it is determined that the ego vehicle will collide with the jamming vehicle. At this time, the second predicted position information of the ego vehicle can be determined according to ego1, and the first predicted position information of the jamming vehicle can be determined according to target0 and target2.
步骤130,根据所述第一预测位置信息和所述第二预测位置信息,确定所述加塞车辆与所述自车的横向重叠率。Step 130: Determine a lateral overlap rate between the jam-in vehicle and the own vehicle based on the first predicted position information and the second predicted position information.
作为一种方式,在确定第一预测位置信息和第二预测位置信息后,由于自车和加塞车辆按照均当前车速均速进行行驶会在目标位置发生碰撞,则需要对车辆进行加速控制或减速控制,为了确定对自车是进行加速控制还是减速控制,可先计算自车与加塞车辆之间的横向重叠率,然后根据横向重叠率的具体值来确定,其中,横向重叠率是指加塞车辆与自车的重叠度。可选的,可根据自车的第二预测位置信息中的车头角点的横坐标以及加塞车辆的车头角点的横坐标来计算横向重叠率。As a method, after determining the first predicted position information and the second predicted position information, since the ego vehicle and the jamming vehicle will collide at the target position if they travel at the current average speed, it is necessary to perform acceleration control or deceleration control on the vehicle. In order to determine whether to perform acceleration control or deceleration control on the ego vehicle, the lateral overlap rate between the ego vehicle and the jamming vehicle can be calculated first, and then determined according to the specific value of the lateral overlap rate, wherein the lateral overlap rate refers to the overlap between the jamming vehicle and the ego vehicle. Optionally, the lateral overlap rate can be calculated according to the horizontal coordinates of the front corner points in the second predicted position information of the ego vehicle and the horizontal coordinates of the front corner points of the jamming vehicle.
步骤140,根据所述横向重叠率和横向重叠率阈值之间的大小关系确定加塞处理策略,并根据所述加塞处理策略进行车速控制。Step 140 , determining a lane-cutting processing strategy according to the magnitude relationship between the lateral overlap rate and the lateral overlap rate threshold, and performing vehicle speed control according to the lane-cutting processing strategy.
作为一种方式,在计算出横向重叠率后,为了确定自车是对车辆进行加速控制还是减速控制,则可将横向重叠率与预设值进行比较,该预设值为横向重叠率阈值,以此根据横向重叠率和横向重叠率阈值之间的大小关系来确定自车针对加塞车辆的加塞处理策略。可选的,加塞处理策略可包括加速控制策略和减速控制策略。可选的。可根据横向重叠率的具体值来确定对应的加塞处理策略。As a method, after calculating the lateral overlap rate, in order to determine whether the vehicle is performing acceleration control or deceleration control on the vehicle, the lateral overlap rate can be compared with a preset value, which is a lateral overlap rate threshold, so as to determine the jamming handling strategy of the vehicle for the jamming vehicle according to the magnitude relationship between the lateral overlap rate and the lateral overlap rate threshold. Optionally, the jamming handling strategy may include an acceleration control strategy and a deceleration control strategy. Optionally. The corresponding jamming handling strategy can be determined according to the specific value of the lateral overlap rate.
在本申请的实施例中,通过在确定自车的预测范围内检测到加塞车辆的情况下,根据自车的当前位置信息、加塞车辆的当前位置信息、自车和加塞车辆的相对航向角和相对车速来确定自车与加塞车辆发生碰撞的目标位置,并确定自车在目标位置的第二预测位置信息和加塞车辆在目标位置的第一预测位置信息,进而能够根据第一预测位置信息和第二预测位置信息来确定自车与加塞车辆之间的横向重叠率,以此,能够根据横向重叠率来确定自车针对加塞车辆的加塞行为的加塞处理策略,进而根据确定的加塞处理策略对自车进行控制。本申请能够在确定存在加塞车辆的情况下,根据加塞车辆与自车之间的横向重叠率来确定对应的加塞处理策略,丰富了车辆针对不同场景的加塞处理策略,避免任何情况下对有加塞意图的加塞车辆均采取制动避让,并且保证了在有车辆进行加塞时自车的安全行驶。In an embodiment of the present application, when a jamming vehicle is detected within the prediction range of the self-vehicle, the target position where the self-vehicle collides with the jamming vehicle is determined based on the current position information of the self-vehicle, the current position information of the jamming vehicle, the relative heading angle and the relative speed of the self-vehicle and the jamming vehicle, and the second predicted position information of the self-vehicle at the target position and the first predicted position information of the jamming vehicle at the target position are determined, and then the lateral overlap rate between the self-vehicle and the jamming vehicle can be determined based on the first predicted position information and the second predicted position information, so that the jamming handling strategy of the self-vehicle for the jamming behavior of the jamming vehicle can be determined based on the lateral overlap rate, and then the self-vehicle is controlled according to the determined jamming handling strategy. The present application can determine the corresponding jamming handling strategy based on the lateral overlap rate between the jamming vehicle and the self-vehicle when it is determined that there is a jamming vehicle, enriching the jamming handling strategy of the vehicle for different scenarios, avoiding braking avoidance for jamming vehicles with jamming intentions under any circumstances, and ensuring the safe driving of the self-vehicle when a vehicle is jamming.
请参阅图2,图2示出了本申请一实施例提供的车辆加塞的处理方法。下面将针对图2所示的流程进行详细的阐述,所述车辆加塞的处理方法具体可以包括以下步骤:Please refer to FIG2 , which shows a method for handling vehicle jamming provided by an embodiment of the present application. The following will describe in detail the process shown in FIG2 , and the method for handling vehicle jamming may specifically include the following steps:
步骤210,若在自车的预设范围内检测到存在加塞车辆,则获取所述自车的当前位置信息、所述加塞车辆的当前位置信息、所述自车和所述加塞车辆的相对航向角和相对车速。Step 210: If a jamming vehicle is detected within a preset range of the own vehicle, the current position information of the own vehicle, the current position information of the jamming vehicle, the relative heading angle and relative speed of the own vehicle and the jamming vehicle are obtained.
步骤220,根据所述自车的当前位置信息、所述加塞车辆的当前位置信息、所述相对航向角和所述相对车速,确定所述自车与所述加塞车辆发生碰撞的目标位置,并确定所述加塞车辆在所述目标位置的第一预测位置信息和所述自车在所述目标位置的第二预测位置信息。Step 220, based on the current position information of the own vehicle, the current position information of the jam-in vehicle, the relative heading angle and the relative vehicle speed, determine the target position where the own vehicle collides with the jam-in vehicle, and determine the first predicted position information of the jam-in vehicle at the target position and the second predicted position information of the own vehicle at the target position.
步骤230,根据所述第一预测位置信息确定所述加塞车辆的第一目标点,以及根据所述第二预测位置信息确定所述自车的第二目标点和第三目标点,其中,所述第一目标点为所述加塞车辆的车头对应的两个点中与所述自车邻近的点,所述第二目标点和所述第三目标点为所述自车的车头对应的两个点。Step 230, determining the first target point of the vehicle that cuts in based on the first predicted position information, and determining the second target point and the third target point of the own vehicle based on the second predicted position information, wherein the first target point is a point adjacent to the own vehicle among the two points corresponding to the front of the vehicle that cuts in, and the second target point and the third target point are two points corresponding to the front of the own vehicle.
作为一种方式,由于横向重叠率表征了自车与加塞车辆之间的横向重叠度,如图3所示,加塞车辆与自车之间的横向重叠率为加塞车辆与自车在横向的重叠度,即加塞车辆的车头与自车的车头之间的重叠度。如图3所示,可通过加塞车辆的两个车头中与自车邻近的点与自车的车头对应两个车头之间的坐标来计算横向重叠率,即先确定第一目标点S1、第二目标点S2、第三目标点S3。可选的,在确定第一预测位置信息和第二预测位置信息后,自车的感知模块可基于自车的车身尺寸和加塞车辆的车身尺寸来确定第一目标点、第二目标点和第三目标点。As a method, since the lateral overlap rate characterizes the lateral overlap between the ego vehicle and the jamming vehicle, as shown in FIG3 , the lateral overlap rate between the jamming vehicle and the ego vehicle is the lateral overlap between the jamming vehicle and the ego vehicle, that is, the overlap between the front of the jamming vehicle and the front of the ego vehicle. As shown in FIG3 , the lateral overlap rate can be calculated by the coordinates between the points of the two fronts of the jamming vehicle adjacent to the ego vehicle and the corresponding two fronts of the ego vehicle, that is, first determine the first target point S1, the second target point S2, and the third target point S3. Optionally, after determining the first predicted position information and the second predicted position information, the perception module of the ego vehicle can determine the first target point, the second target point, and the third target point based on the body size of the ego vehicle and the body size of the jamming vehicle.
步骤240,分别确定所述第一目标点的横向坐标、所述第二目标点的横向坐标和所述第三目标点的横向坐标,并根据所述第一目标点的横向坐标、所述第二目标点的横向坐标和所述第三目标点的横向坐标确定所述横向重叠率。Step 240, respectively determine the horizontal coordinates of the first target point, the second target point, and the third target point, and determine the horizontal overlap rate based on the horizontal coordinates of the first target point, the second target point, and the third target point.
作为一种方式,在确定第一目标点、第二目标点以及第三目标点后,为了确定横向重叠率,需要而分别确定第一目标点、第二目标点第三目标点在目标位置的横向坐标,进而可根据横向坐标计算横向重叠率。可选的,可通过计算将第一目标点的横坐标与第二目标点的横坐标之间的差值与第二目标点的横坐标与第三目标点的横坐标的差值相除,以此得到横向重叠率,例如,若第一目标点的横向坐标为a,第二目标点的横向坐标为b,第三目标点的横向坐标为c,则横向重叠率N=(b-a)/(b-c)。As a method, after determining the first target point, the second target point, and the third target point, in order to determine the horizontal overlap rate, it is necessary to determine the horizontal coordinates of the first target point, the second target point, and the third target point at the target position, respectively, and then the horizontal overlap rate can be calculated based on the horizontal coordinates. Optionally, the horizontal overlap rate can be obtained by calculating the difference between the horizontal coordinates of the first target point and the second target point and dividing the difference between the horizontal coordinates of the second target point and the third target point. For example, if the horizontal coordinate of the first target point is a, the horizontal coordinate of the second target point is b, and the horizontal coordinate of the third target point is c, then the horizontal overlap rate N = (b-a)/(b-c).
步骤250,根据所述横向重叠率和横向重叠率阈值之间的大小关系确定加塞处理策略,并根据所述加塞处理策略进行车速控制。Step 250: determining a lane-cutting processing strategy according to the magnitude relationship between the lateral overlap rate and the lateral overlap rate threshold, and performing vehicle speed control according to the lane-cutting processing strategy.
其中,步骤210-步骤220以及步骤250的具体步骤秒速可参阅步骤110-步骤120和步骤140,在此不再进行赘述。The specific steps of step 210 to step 220 and step 250 may refer to step 110 to step 120 and step 140, which will not be described in detail here.
在本实施例中,通过根据自车在目标位置的第二预测位置对应的第二目标点和第三目标点以及加塞车辆在目标位置的第一预测位置信息对应的第一目标点来确定横向重叠率,保证了横向重叠率的准确性,进而提高加塞处理策略确定的准确性,保证了自车的安全行驶。In this embodiment, the lateral overlap rate is determined based on the second target point and the third target point corresponding to the second predicted position of the ego vehicle at the target position and the first target point corresponding to the first predicted position information of the jam-in vehicle at the target position, thereby ensuring the accuracy of the lateral overlap rate, thereby improving the accuracy of determining the jam-in handling strategy and ensuring the safe driving of the ego vehicle.
请参阅图4,图4示出了本申请一实施例提供的车辆加塞的处理方法。下面将针对图4所示的流程进行详细的阐述,所述车辆加塞的处理方法具体可以包括以下步骤:Please refer to FIG4 , which shows a method for handling vehicle jamming provided by an embodiment of the present application. The following will describe in detail the process shown in FIG4 , and the method for handling vehicle jamming may specifically include the following steps:
步骤310,若在自车的预设范围内检测到存在加塞车辆,则获取所述自车的当前位置信息、所述加塞车辆的当前位置信息、所述自车和所述加塞车辆的相对航向角和相对车速。Step 310: If a jamming vehicle is detected within a preset range of the own vehicle, the current position information of the own vehicle, the current position information of the jamming vehicle, the relative heading angle and relative speed of the own vehicle and the jamming vehicle are obtained.
步骤320,根据所述自车的当前位置信息、所述加塞车辆的当前位置信息、所述相对航向角和所述相对车速,确定所述自车与所述加塞车辆发生碰撞的目标位置,并确定所述加塞车辆在所述目标位置的第一预测位置信息和所述自车在所述目标位置的第二预测位置信息。Step 320, based on the current position information of the own vehicle, the current position information of the jam-in vehicle, the relative heading angle and the relative vehicle speed, determine the target position where the own vehicle collides with the jam-in vehicle, and determine the first predicted position information of the jam-in vehicle at the target position and the second predicted position information of the own vehicle at the target position.
步骤330,根据所述第一预测位置信息和所述第二预测位置信息,确定所述加塞车辆与所述自车的横向重叠率。Step 330: Determine a lateral overlap rate between the jam-in vehicle and the own vehicle based on the first predicted position information and the second predicted position information.
步骤340,若所述横向重叠率小于横向重叠率阈值,则确定所述加塞处理策略为第一加塞处理策略,并根据所述第一加塞处理策略进行加速控制。Step 340: If the lateral overlap rate is less than the lateral overlap rate threshold, the lane-intercepting processing strategy is determined to be the first lane-intercepting processing strategy, and acceleration control is performed according to the first lane-intercepting processing strategy.
作为一种方式,可设定一横向重叠率阈值,该横向重叠率阈值用于确定是对自车进行加速控制还是进行减速控制进行确定的预设值。可选的,当横向重叠率小于横向重叠率阈值时,可确定若自车加速进行行驶可避免与加塞车辆发生碰撞,并且能够避免他车加塞。其中,横向重叠率阈值可根据实际需要来设定,在此不进行具体限定。As a method, a lateral overlap rate threshold can be set, and the lateral overlap rate threshold is used to determine whether to perform acceleration control or deceleration control on the vehicle. Optionally, when the lateral overlap rate is less than the lateral overlap rate threshold, it can be determined that if the vehicle accelerates to travel, it can avoid colliding with the vehicle cutting in, and can avoid other vehicles cutting in. Among them, the lateral overlap rate threshold can be set according to actual needs and is not specifically limited here.
在一些实施例中,如图5所示,所述步骤340包括:In some embodiments, as shown in FIG. 5 , step 340 includes:
步骤341,若所述横向重叠率小于所述横向重叠率阈值,则确定所述加塞车辆由所述加塞车辆的当前位置行驶至所述目标位置的横向距离,并根据所述加塞车辆的横向车速和所述横向距离确定目标时长,其中,所述目标时长为所述加塞车辆由所述加塞车辆的当前位置行驶所述至目标位置的时长。Step 341: If the lateral overlap rate is less than the lateral overlap rate threshold, determine the lateral distance that the jam-in vehicle travels from the current position of the jam-in vehicle to the target position, and determine the target duration based on the lateral speed of the jam-in vehicle and the lateral distance, wherein the target duration is the duration that the jam-in vehicle travels from the current position of the jam-in vehicle to the target position.
作为一种方式,当确定横向重叠率小于横向重叠率阈值时,需要确定控制车辆进行加速的加速度,为了确定加速度,需要先确定加塞车辆由当前位置行驶至目标位置所需要的时长,即目标时长。可选的,可先确定及埃塞车辆由当前位置行驶至目标位置的横向距离,然后根据加塞车辆的横向车速和横向距离计算得到目标时长。例如,在当前位置加塞车辆的车头对应的点的横坐标为A,在目标位置加塞车辆对应的车头的点的横坐标为B,则横向距离L1=B-A,加塞车辆的横向车速为V1,则目标时长T=B/V1。As a method, when it is determined that the lateral overlap rate is less than the lateral overlap rate threshold, it is necessary to determine the acceleration of the control vehicle to accelerate. In order to determine the acceleration, it is necessary to first determine the time required for the jamming vehicle to travel from the current position to the target position, that is, the target time. Optionally, the lateral distance of the jamming vehicle from the current position to the target position can be determined first, and then the target time is calculated based on the lateral speed and lateral distance of the jamming vehicle. For example, the horizontal coordinate of the point corresponding to the front of the jamming vehicle at the current position is A, and the horizontal coordinate of the point corresponding to the front of the jamming vehicle at the target position is B, then the lateral distance L1 = B-A, the lateral speed of the jamming vehicle is V1, then the target time T = B/V1.
步骤342,根据所述目标时长和所述加塞车辆的纵向车速,确定所述加塞车辆在所述目标时长内移动的纵向距离。Step 342: Determine the longitudinal distance that the vehicle that cuts in moves within the target duration based on the target duration and the longitudinal speed of the vehicle that cuts in.
作为一种方式,为了计算加速度还需要确定加塞车辆由当前位置行驶至目标位置的纵向距离。可选的,可通过目标时长集合加塞车辆的纵向车速来计算,若纵向车速为V2,则纵向距离L2=T*V2。As a method, in order to calculate the acceleration, it is also necessary to determine the longitudinal distance of the jamming vehicle from the current position to the target position. Optionally, the longitudinal speed of the jamming vehicle can be calculated by the target duration set. If the longitudinal speed is V2, the longitudinal distance L2 = T*V2.
步骤343,获取安全距离,并根据所述安全距离、所述纵向距离、所述加塞车辆的纵向车速、所述自车的纵向车速以及所述目标时长确定目标加速度,并以所述目标加速度对所述自车进行加速控制,其中,所述安全距离为所述自车与所述加塞车辆在纵向上安全行驶的最小距离。Step 343, obtain the safety distance, and determine the target acceleration according to the safety distance, the longitudinal distance, the longitudinal speed of the vehicle cutting in, the longitudinal speed of the own vehicle and the target duration, and perform acceleration control on the own vehicle with the target acceleration, wherein the safety distance is the minimum distance for safe longitudinal travel between the own vehicle and the vehicle cutting in.
作为一种方式,为了保证自车的安全行驶,在确定车辆的加速度时,需要考虑车辆与加塞车辆之间的纵向安全距离,将安全距离也加入至计算加速度中,保证自车的安全行驶。可选的,可根据公式(vy_ego*T+0.8*a1*T^2)-L2-vy_target*T=L_safe来计算加速度,其中,vy_ego自车的纵向车速、a1为加速度、vy_target加塞车辆的纵向车速、L_safe为安全距离,即可得到加速度为a1=((L_before+vy_target*T+L_safe)-vy_ego*T)/(0.8*T^2)。As a way, in order to ensure the safe driving of the vehicle, when determining the acceleration of the vehicle, it is necessary to consider the longitudinal safety distance between the vehicle and the vehicle that is jamming in, and add the safety distance to the calculated acceleration to ensure the safe driving of the vehicle. Optionally, the acceleration can be calculated according to the formula (vy_ego*T+0.8*a1*T^2)-L2-vy_target*T=L_safe, where vy_ego is the longitudinal speed of the vehicle, a1 is the acceleration, vy_target is the longitudinal speed of the vehicle that is jamming in, and L_safe is the safety distance, and the acceleration can be obtained as a1=((L_before+vy_target*T+L_safe)-vy_ego*T)/(0.8*T^2).
请继续参阅图4,步骤350,若所述横向重叠率等于或大于所述横向重叠率阈值,则确定所述策略为第二加塞处理策略,并根据所述第二加塞处理策略进行减速控制。Please continue to refer to FIG. 4 , step 350 , if the lateral overlap rate is equal to or greater than the lateral overlap rate threshold, then the strategy is determined to be a second lane-cutting processing strategy, and deceleration control is performed according to the second lane-cutting processing strategy.
作为一种方式,当横向重叠率等于或大于横向重叠率阈值时,可确定若自车减速进行行驶可避免与加塞车辆发生碰撞,进而确定第二加塞处理策略中的减速度,以此能够根据该加速度对自车进行减速控制。As a method, when the lateral overlap rate is equal to or greater than the lateral overlap rate threshold, it can be determined that if the vehicle decelerates to travel, a collision with the vehicle that is cutting in can be avoided, and then the deceleration in the second cutting-in handling strategy is determined, so that the vehicle can be decelerated according to the acceleration.
在一些实施例中,如图6所示,所述步骤350包括:In some embodiments, as shown in FIG. 6 , step 350 includes:
步骤351,若所述横向重叠率等于或大于所述横向重叠率阈值,则确定所述加塞车辆由所述加塞车辆的当前位置行驶至所述目标位置的横向距离,并根据所述加塞车辆的横向车速和所述横向距离确定目标时长,其中,所述目标时长为所述加塞车辆由所述加塞车辆的当前位置行驶所述至目标位置的时长。Step 351: If the lateral overlap rate is equal to or greater than the lateral overlap rate threshold, determine the lateral distance that the jam-in vehicle travels from the current position of the jam-in vehicle to the target position, and determine the target duration based on the lateral speed of the jam-in vehicle and the lateral distance, wherein the target duration is the duration that the jam-in vehicle travels from the current position of the jam-in vehicle to the target position.
步骤352,根据所述目标时长和所述加塞车辆的纵向车速,确定所述加塞车辆在所述目标时长内移动的纵向距离。Step 352: Determine the longitudinal distance that the vehicle that cuts in moves within the target duration based on the target duration and the longitudinal speed of the vehicle that cuts in.
其中,步骤351和步骤352的具体步骤描述可参阅步骤341和步骤342,在此不再进行赘述。The specific step descriptions of step 351 and step 352 can refer to step 341 and step 342, which will not be repeated here.
步骤353,获取安全距离,并根据所述安全距离、所述纵向距离、所述加塞车辆的纵向车速、所述自车的纵向车速以及所述目标时长确定目标减速度,并以所述目标减速度对所述自车进行减速控制,其中,所述安全距离为所述自车与所述加塞车辆在纵向上安全行驶的最小距离。Step 353, obtain the safety distance, and determine the target deceleration based on the safety distance, the longitudinal distance, the longitudinal speed of the vehicle that cuts in, the longitudinal speed of the own vehicle and the target duration, and decelerate the own vehicle at the target deceleration, wherein the safety distance is the minimum distance between the own vehicle and the vehicle that cuts in for safe driving in the longitudinal direction.
作为一种方式,为了保证自车的安全行驶,在确定车辆的减速度时,需要考虑车辆与加塞车辆之间的纵向安全距离,将安全距离也加入至计算减速度中,保证自车的安全行驶。可选的,可根据公式L_before-(vy_ego*T+0.8*a2*T^2)+vy_target*T=L_safe来计算加速度,其中,vy_ego自车的纵向车速、a2为减速度、vy_target加塞车辆的纵向车速、L_safe为安全距离,即可得到加速度为a2=((L_before+vy_target*T-L_safe)-vy_ego*T)/(0.8*T^2)。As a way, in order to ensure the safe driving of the vehicle, when determining the deceleration of the vehicle, it is necessary to consider the longitudinal safety distance between the vehicle and the vehicle that is jamming in, and add the safety distance to the calculation of the deceleration to ensure the safe driving of the vehicle. Optionally, the acceleration can be calculated according to the formula L_before-(vy_ego*T+0.8*a2*T^2)+vy_target*T=L_safe, where vy_ego is the longitudinal speed of the vehicle, a2 is the deceleration, vy_target is the longitudinal speed of the vehicle that is jamming in, and L_safe is the safety distance, and the acceleration can be obtained as a2=((L_before+vy_target*T-L_safe)-vy_ego*T)/(0.8*T^2).
在本实施例中,根据横向重叠率与横向重叠率的大小关系来确定自车针对加塞车辆的加塞行为的具体策略,并能够在确定具体策略后,根据加塞车辆的横向车速和纵向车速以及保证自车安全行驶的安全距离来确定具体策略的加速度或减速度,保证了车辆安全行驶的同时也提高了自车对加塞行为的准确性。In this embodiment, the specific strategy of the vehicle for cutting in against a vehicle that cuts in is determined based on the relationship between the lateral overlap rate and the lateral overlap rate. After determining the specific strategy, the acceleration or deceleration of the specific strategy can be determined based on the lateral speed and longitudinal speed of the vehicle that cuts in and the safety distance to ensure the safe driving of the vehicle. This ensures the safe driving of the vehicle while also improving the accuracy of the vehicle's response to the cutting in behavior.
请参阅图7,图7示出了本申请一实施例提供的车辆加塞的处理方法。下面将针对图7所示的流程进行详细的阐述,所述车辆加塞的处理方法具体可以包括以下步骤:Please refer to FIG. 7 , which shows a method for handling a vehicle jamming provided by an embodiment of the present application. The following will describe in detail the process shown in FIG. 7 , and the method for handling a vehicle jamming may specifically include the following steps:
步骤410,若在自车的预设范围内检测到存在加塞车辆,则获取所述自车的当前位置信息、所述加塞车辆的当前位置信息、所述自车和所述加塞车辆的相对航向角和相对车速。Step 410: If a jamming vehicle is detected within a preset range of the own vehicle, the current position information of the own vehicle, the current position information of the jamming vehicle, the relative heading angle and relative speed of the own vehicle and the jamming vehicle are obtained.
步骤420,根据所述自车的当前位置信息和所述相对航向角确定所述自车的第一预测行驶轨迹,以及根据所述加塞车辆的当前位置信息和所述相对航向角确定所述加塞车辆的第二预测行驶轨迹。Step 420, determining a first predicted driving trajectory of the own vehicle based on the current position information of the own vehicle and the relative heading angle, and determining a second predicted driving trajectory of the jam-in vehicle based on the current position information of the jam-in vehicle and the relative heading angle.
步骤430,若确定所述第一预测行驶轨迹和所述第二预测行驶轨迹存在交点,则将所述第一预测行驶轨迹和所述第二预测行驶轨迹的交点确定为所述目标位置。Step 430: If it is determined that the first predicted driving trajectory and the second predicted driving trajectory have an intersection, the intersection of the first predicted driving trajectory and the second predicted driving trajectory is determined as the target position.
作为一种方式,在确定了第一预测行驶轨迹和第二预测行驶轨迹后,可根据第一预测行驶轨迹是否与第二预测行驶轨迹是否存在交点来确定自车与加塞车辆按照新队车速和相对航向角进行行驶是否会发生碰撞。可选的,若第一预测行驶轨迹与第二预测行驶轨迹存在交点,则确定自车与加塞车辆按照新队车速和相对航向角进行行驶会发生碰撞,并将该交点对应的位置确定为自车与加塞车辆发生碰撞的目标位置。如图8所示,X为第一预测行驶轨迹,Y为第二预测行驶轨迹,其交点Q对应为自车与加塞车辆发生碰撞的目标位置。As a method, after determining the first predicted driving trajectory and the second predicted driving trajectory, it can be determined whether the vehicle and the vehicle that cuts in will collide if they travel at the new team speed and relative heading angle based on whether the first predicted driving trajectory and the second predicted driving trajectory have an intersection. Optionally, if the first predicted driving trajectory and the second predicted driving trajectory have an intersection, it is determined that the vehicle and the vehicle that cuts in will collide if they travel at the new team speed and relative heading angle, and the position corresponding to the intersection is determined as the target position where the vehicle and the vehicle that cuts in will collide. As shown in Figure 8, X is the first predicted driving trajectory, Y is the second predicted driving trajectory, and the intersection Q corresponds to the target position where the vehicle and the vehicle that cuts in will collide.
步骤440,基于所述目标位置确定所述第一预测位置信息和所述第二预测位置信息。Step 440: Determine the first predicted position information and the second predicted position information based on the target position.
作为一种方式,当确定目标位置后,可分别根据自车的车身尺寸以及加塞车辆的车身尺寸类分别确定自车的第二预测位置信息和加塞车辆的第一预测位置信息。可选的,第一预测位置信息可以包括根据加塞车辆的尺寸确定的加塞车辆的车头的两个角点的坐标信息,第二预测位置信息可以包括根据自车的尺寸确定的自车的车头的两个角点的坐标信息。As a method, after the target position is determined, the second predicted position information of the own vehicle and the first predicted position information of the jamming vehicle can be determined respectively according to the body size of the own vehicle and the body size of the jamming vehicle. Optionally, the first predicted position information may include the coordinate information of the two corner points of the front of the jamming vehicle determined according to the size of the jamming vehicle, and the second predicted position information may include the coordinate information of the two corner points of the front of the own vehicle determined according to the size of the own vehicle.
步骤450,根据所述第一预测位置信息和所述第二预测位置信息,确定所述加塞车辆与所述自车的横向重叠率。Step 450: Determine a lateral overlap rate between the jam-in vehicle and the own vehicle based on the first predicted position information and the second predicted position information.
步骤460,根据所述横向重叠率和横向重叠率阈值之间的大小关系确定加塞处理策略,并根据所述加塞处理策略进行车速控制。Step 460: Determine a lane-cutting processing strategy according to the magnitude relationship between the lateral overlap rate and the lateral overlap rate threshold, and perform vehicle speed control according to the lane-cutting processing strategy.
其中,步骤410-步骤420以及步骤450-步骤460的具体步骤描述可参阅步骤110和步骤130-步骤140,在此不再进行赘述。The specific step descriptions of step 410 - step 420 and step 450 - step 460 may refer to step 110 and step 130 - step 140 , which will not be repeated here.
在本实施例中,通过确定第一预测行驶轨迹和第二预测行驶轨迹是否存在交点来确定自车与加塞车辆是否会发生碰撞,并在存在交点时根据目标位置确定第一预测位置信息和第二预测位置信息,保证了自车对加塞车辆的加塞行为进行处理的准确性,并且在自车与加塞车辆会发生碰撞的情况下才确定第一预测位置信息和第二预测位置信息,提高自车的加塞处理的准确性,避免资源的浪费。In this embodiment, whether the own vehicle and the jam-in vehicle will collide is determined by determining whether there is an intersection between the first predicted driving trajectory and the second predicted driving trajectory, and when there is an intersection, the first predicted position information and the second predicted position information are determined according to the target position, thereby ensuring the accuracy of the own vehicle's processing of the jam-in vehicle. The first predicted position information and the second predicted position information are determined only when the own vehicle and the jam-in vehicle are likely to collide, thereby improving the accuracy of the own vehicle's jam-in processing and avoiding waste of resources.
请参阅图9,图9示出了本申请一实施例提供的车辆加塞的处理方法。下面将针对图9所示的流程进行详细的阐述,所述车辆加塞的处理方法具体可以包括以下步骤:Please refer to FIG9 , which shows a method for handling vehicle jamming provided by an embodiment of the present application. The following will describe in detail the process shown in FIG9 , and the method for handling vehicle jamming may specifically include the following steps:
步骤510,获取所述自车的当前航向角和所述自车的预设检测范围内的参考车辆的当前航向角,并确定所述自车的当前航向角与所述参考车辆的当前航向角之间的航向角差。Step 510, obtaining the current heading angle of the ego vehicle and the current heading angle of a reference vehicle within a preset detection range of the ego vehicle, and determining the heading angle difference between the current heading angle of the ego vehicle and the current heading angle of the reference vehicle.
作为一种方式,为了确定在自车行驶过程中是否有车辆进行加塞,即确定是否存在加塞车辆,可通过计算自车在预测检测范围内的车辆与自车之间的航向角差来进行确定。可选的,为了准确确定加塞车辆,需要在自车的预测检测范围内的其他车辆作为参考车辆,进而能够通过自车的感知模块来获取参考车辆的当前航向角以及通过感知模块获取自车的当前航向角,然后确定自车的当前航向角与参考车辆的当前航向角之间的航向角差。As a method, in order to determine whether there is a vehicle cutting in during the driving process of the ego vehicle, that is, to determine whether there is a vehicle cutting in, it can be determined by calculating the heading angle difference between the vehicle within the predicted detection range of the ego vehicle and the ego vehicle. Optionally, in order to accurately determine the vehicle cutting in, other vehicles within the predicted detection range of the ego vehicle are required as reference vehicles, and then the current heading angle of the reference vehicle can be obtained through the perception module of the ego vehicle, and the current heading angle of the ego vehicle can be obtained through the perception module, and then the heading angle difference between the current heading angle of the ego vehicle and the current heading angle of the reference vehicle can be determined.
步骤520,在预设时长内确定所述自车与所述参考车辆之间的横向距离。Step 520: Determine the lateral distance between the ego vehicle and the reference vehicle within a preset time period.
作为一种方式,确定参考车辆是否存在加塞意图可通过确定自车与参考车辆之间的横向距离是否在持续减小来进行确定。可选的,可预先设定一周期,周期性的持续性获取自车与参考车辆之间的横向据,即在预测时长内获取自车与参考车辆之间的横向距离。As a method, whether the reference vehicle has the intention to cut in can be determined by determining whether the lateral distance between the ego vehicle and the reference vehicle is continuously decreasing. Optionally, a period can be preset to periodically and continuously obtain the lateral distance between the ego vehicle and the reference vehicle, that is, obtain the lateral distance between the ego vehicle and the reference vehicle within the prediction time.
步骤530,若所述航向角差小于航向角阈值且所述自车与所述参考车辆之间的横向距离在所述预设时长内不断减小,则确定所述参考车辆存在加塞意图,并将所述参考车辆确定为所述加塞车辆。Step 530: If the heading angle difference is less than the heading angle threshold and the lateral distance between the self-vehicle and the reference vehicle continuously decreases within the preset time period, it is determined that the reference vehicle has an intention to cut in, and the reference vehicle is determined as the vehicle that cuts in.
作为一种方式,若确定自车与参考车辆之间的航向角小于航向角阈值可确定参考车辆可能存在加塞意图,为了准确确定参考车辆为加塞车辆,则需要确定自车与参考车辆之间的横向距离是否在不断减小,若确定自车与参考车辆之间的横向距离在预设时长内不断减小,此时可确定参考车辆存在加塞意图,并将该参考车辆确定为加塞车辆。As a way, if it is determined that the heading angle between the own vehicle and the reference vehicle is less than the heading angle threshold, it can be determined that the reference vehicle may have the intention to squeeze in. In order to accurately determine that the reference vehicle is the vehicle that squeezes in, it is necessary to determine whether the lateral distance between the own vehicle and the reference vehicle is constantly decreasing. If it is determined that the lateral distance between the own vehicle and the reference vehicle is constantly decreasing within a preset time period, it can be determined that the reference vehicle has the intention to squeeze in, and the reference vehicle is determined to be the vehicle that squeezes in.
在本实施例中,通过根据自车与自车的预测检测范围内的参考车辆之间的航向角差和预设时长内的横向距离来确定参考车辆是否存在加塞意图,在确定存在加塞意图时确定参考车辆为加塞车辆,提高对加塞车辆确定的准确性。In this embodiment, whether the reference vehicle has the intention to squeeze in is determined based on the heading angle difference between the self-vehicle and the reference vehicle within the predicted detection range of the self-vehicle and the lateral distance within a preset time length. When it is determined that there is the intention to squeeze in, the reference vehicle is determined to be the vehicle to squeeze in, thereby improving the accuracy of the determination of the vehicle to squeeze in.
图10是根据本申请一实施例示出的车辆加塞的处理装置的框图,如图10所示,该车辆加塞的处理装置600包括:获取模块610、预测位置信息确定模块620、横向重叠率确定模块630和加塞处理策略确定模块640。Figure 10 is a block diagram of a vehicle lane-cutting processing device according to an embodiment of the present application. As shown in Figure 10, the vehicle lane-cutting processing device 600 includes: an acquisition module 610, a predicted position information determination module 620, a lateral overlap rate determination module 630 and a lane-cutting processing strategy determination module 640.
获取模块610,用于若在自车的预设范围内检测到存在加塞车辆,则获取所述自车的当前位置信息、所述加塞车辆的当前位置信息、所述自车和所述加塞车辆的相对航向角和相对车速;预测位置信息确定模块620,用于若根据所述自车的当前位置信息、所述加塞车辆的当前位置信息、所述相对航向角和所述相对车速,确定所述自车与所述加塞车辆将在目标位置发生碰撞,则确定所述加塞车辆在所述目标位置的第一预测位置信息和所述自车在所述目标位置的第二预测位置信息;横向重叠率确定模块630,用于根据所述第一预测位置信息和所述第二预测位置信息,确定所述加塞车辆与所述自车的横向重叠率;加塞处理策略确定模块640,用于根据所述横向重叠率确定加塞处理策略,并根据所述加塞处理策略进行车速控制。The acquisition module 610 is used to acquire the current position information of the own vehicle, the current position information of the jamming vehicle, the relative heading angle and the relative speed of the own vehicle and the jamming vehicle if a jamming vehicle is detected within a preset range of the own vehicle; the predicted position information determination module 620 is used to determine the first predicted position information of the jamming vehicle at the target position and the second predicted position information of the own vehicle at the target position if it is determined that the own vehicle and the jamming vehicle will collide at the target position based on the current position information of the own vehicle, the current position information of the jamming vehicle, the relative heading angle and the relative speed; the lateral overlap rate determination module 630 is used to determine the lateral overlap rate between the jamming vehicle and the own vehicle based on the first predicted position information and the second predicted position information; the jamming processing strategy determination module 640 is used to determine the jamming processing strategy based on the lateral overlap rate, and perform vehicle speed control based on the jamming processing strategy.
在一些实施例中,所述横向重叠率确定模块630包括:目标点确定子模块,用于根据所述第一预测位置信息确定所述加塞车辆的第一目标点,以及根据所述第二预测位置信息确定所述自车的第二目标点和第三目标点,其中,所述第一目标点为所述加塞车辆的车头对应的两个点中与所述自车邻近的点,所述第二目标点和所述第三目标点为所述自车的车头对应的两个点;横向重叠率,用于分别确定所述第一目标点的横向坐标、所述第二目标点的横向坐标和所述第三目标点的横向坐标,并根据所述第一目标点的横向坐标、所述第二目标点的横向坐标和所述第三目标点的横向坐标确定所述横向重叠率。In some embodiments, the lateral overlap rate determination module 630 includes: a target point determination submodule, used to determine the first target point of the vehicle that is cutting in based on the first predicted position information, and to determine the second target point and the third target point of the own vehicle based on the second predicted position information, wherein the first target point is the point adjacent to the own vehicle among the two points corresponding to the front of the vehicle that is cutting in, and the second target point and the third target point are the two points corresponding to the front of the own vehicle; a lateral overlap rate, used to respectively determine the lateral coordinates of the first target point, the second target point, and the third target point, and to determine the lateral overlap rate based on the lateral coordinates of the first target point, the second target point, and the third target point.
在一些实施例中,所述加塞处理策略确定模块640包括:第一加塞处理策略确定子模块,用于若所述横向重叠率小于横向重叠率阈值,则确定所述加塞处理策略为第一加塞处理策略,并根据所述第一加塞处理策略进行加速控制;第二加塞处理策略确定子模块,用于若所述横向重叠率等于或大于所述横向重叠率阈值,则确定所述策略为第二加塞处理策略,并根据所述第二加塞处理策略进行减速控制。In some embodiments, the lane-crossing handling strategy determination module 640 includes: a first lane-crossing handling strategy determination submodule, which is used to determine that the lane-crossing handling strategy is a first lane-crossing handling strategy if the lateral overlap rate is less than a lateral overlap rate threshold, and perform acceleration control according to the first lane-crossing handling strategy; a second lane-crossing handling strategy determination submodule, which is used to determine that the strategy is a second lane-crossing handling strategy if the lateral overlap rate is equal to or greater than the lateral overlap rate threshold, and perform deceleration control according to the second lane-crossing handling strategy.
在一些实施例中,所述第一加塞处理策略确定子模块包括:目标时长第一确定单元,用于若所述横向重叠率小于所述横向重叠率阈值,则确定所述加塞车辆由所述加塞车辆的当前位置行驶至所述目标位置的横向距离,并根据所述加塞车辆的横向车速和所述横向距离确定目标时长,其中,所述目标时长为所述加塞车辆由所述加塞车辆的当前位置行驶所述至目标位置的时长;纵向距离第一确定单元,用于根据所述目标时长和所述加塞车辆的纵向车速,确定所述加塞车辆在所述目标时长内移动的纵向距离;目标加速度确定单元,用于获取安全距离,并根据所述安全距离、所述纵向距离、所述加塞车辆的纵向车速、所述自车的纵向车速以及所述目标时长确定目标加速度,并以所述目标加速度对所述自车进行加速控制,其中,所述安全距离为所述自车与所述加塞车辆在纵向上安全行驶的最小距离。In some embodiments, the first jamming handling strategy determination submodule includes: a first target duration determination unit, which is used to determine the lateral distance traveled by the jamming vehicle from the current position of the jamming vehicle to the target position if the lateral overlap rate is less than the lateral overlap rate threshold, and determine the target duration according to the lateral speed of the jamming vehicle and the lateral distance, wherein the target duration is the duration for the jamming vehicle to travel from the current position of the jamming vehicle to the target position; a first longitudinal distance determination unit, which is used to determine the longitudinal distance moved by the jamming vehicle within the target duration according to the target duration and the longitudinal speed of the jamming vehicle; a target acceleration determination unit, which is used to obtain a safety distance, and determine a target acceleration according to the safety distance, the longitudinal distance, the longitudinal speed of the jamming vehicle, the longitudinal speed of the self-vehicle and the target duration, and perform acceleration control on the self-vehicle with the target acceleration, wherein the safety distance is the minimum distance for safe longitudinal travel between the self-vehicle and the jamming vehicle.
在一些实施例中,所述第二加塞处理策略确定子模块包括:目标时长第二确定单元,用于若所述横向重叠率等于或大于所述横向重叠率阈值,则确定所述加塞车辆由所述加塞车辆的当前位置行驶至所述目标位置的横向距离,并根据所述加塞车辆的横向车速和所述横向距离确定目标时长,其中,所述目标时长为所述加塞车辆由所述加塞车辆的当前位置行驶所述至目标位置的时长;纵向距离第二确定单元,用于根据所述目标时长和所述加塞车辆的纵向车速,确定所述加塞车辆在所述目标时长内移动的纵向距离;目标减速度确定单元,用于获取安全距离,并根据所述安全距离、所述纵向距离、所述加塞车辆的纵向车速、所述自车的纵向车速以及所述目标时长确定目标减速度,并以所述目标减速度对所述自车进行减速控制,其中,所述安全距离为所述自车与所述加塞车辆在纵向上安全行驶的最小距离。In some embodiments, the second jamming handling strategy determination submodule includes: a second target duration determination unit, which is used to determine the lateral distance traveled by the jamming vehicle from the current position of the jamming vehicle to the target position if the lateral overlap rate is equal to or greater than the lateral overlap rate threshold, and determine the target duration according to the lateral speed of the jamming vehicle and the lateral distance, wherein the target duration is the duration for the jamming vehicle to travel from the current position of the jamming vehicle to the target position; a second longitudinal distance determination unit, which is used to determine the longitudinal distance moved by the jamming vehicle within the target duration according to the target duration and the longitudinal speed of the jamming vehicle; a target deceleration determination unit, which is used to obtain a safety distance, and determine a target deceleration according to the safety distance, the longitudinal distance, the longitudinal speed of the jamming vehicle, the longitudinal speed of the self-vehicle and the target duration, and decelerate the self-vehicle at the target deceleration, wherein the safety distance is the minimum distance for safe longitudinal travel between the self-vehicle and the jamming vehicle.
在一些实施例中,所述预测位置信息确定模块620包括:预测行驶轨迹确定子模块,用于根据所述自车的当前位置信息和所述相对航向角确定所述自车的第一预测行驶轨迹,以及根据所述加塞车辆的当前位置信息和所述相对航向角确定所述加塞车辆的第二预测行驶轨迹;目标位置确定子模块,用于若确定所述第一预测行驶轨迹和所述第二预测行驶轨迹存在交点,则将所述第一预测行驶轨迹和所述第二预测行驶轨迹的交点确定为所述目标位置;预测位置信息确定子模块,用于基于所述目标位置确定所述第一预测位置信息和所述第二预测位置信息。In some embodiments, the predicted position information determination module 620 includes: a predicted driving trajectory determination submodule, used to determine the first predicted driving trajectory of the vehicle according to the current position information of the vehicle and the relative heading angle, and to determine the second predicted driving trajectory of the vehicle according to the current position information of the vehicle and the relative heading angle; a target position determination submodule, used to determine the intersection of the first predicted driving trajectory and the second predicted driving trajectory as the target position if it is determined that the first predicted driving trajectory and the second predicted driving trajectory have an intersection; a predicted position information determination submodule, used to determine the first predicted position information and the second predicted position information based on the target position.
在一些实施例中,所述车辆加塞的处理装置600还包括:航向角差确定模块,用于获取所述自车的当前航向角和所述自车的预设检测范围内的参考车辆的当前航向角,并确定所述自车的当前航向角与所述参考车辆的当前航向角之间的航向角差;横向距离确定模块,用于在预设时长内确定所述自车与所述参考车辆之间的横向距离;加塞车辆确定模块,用于若所述航向角差小于航向角阈值且所述自车与所述参考车辆之间的横向距离在所述预设时长内不断减小,则确定所述参考车辆存在加塞意图,并将所述参考车辆确定为所述加塞车辆。In some embodiments, the vehicle jamming processing device 600 also includes: a heading angle difference determination module, used to obtain the current heading angle of the own vehicle and the current heading angle of a reference vehicle within a preset detection range of the own vehicle, and determine the heading angle difference between the current heading angle of the own vehicle and the current heading angle of the reference vehicle; a lateral distance determination module, used to determine the lateral distance between the own vehicle and the reference vehicle within a preset time length; a jamming vehicle determination module, used to determine that the reference vehicle has an intention to jam if the heading angle difference is less than a heading angle threshold and the lateral distance between the own vehicle and the reference vehicle continuously decreases within the preset time length, and determine the reference vehicle as the jamming vehicle.
根据本申请实施例的一个方面,提供了计算机程序产品或计算机程序,该计算机程序产品或计算机程序包括计算机指令,该计算机指令存储在计算机可读存储介质中。计算机设备的处理器从计算机可读存储介质读取该计算机指令,处理器执行该计算机指令,使得该计算机设备执行上述任一实施例中的方法。According to one aspect of the embodiments of the present application, a computer program product or a computer program is provided, the computer program product or the computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the method in any of the above embodiments.
根据本申请实施例的一个方面,还提供了一种电子设备,如图11所示,该车辆700包括处理器710以及一个或多个存储器720,一个或多个存储器720用于存储被处理器710执行的程序指令,处理器710执行程序指令时实施上述的车辆加塞的处理方法。According to one aspect of an embodiment of the present application, an electronic device is also provided. As shown in FIG11 , the vehicle 700 includes a processor 710 and one or more memories 720. The one or more memories 720 are used to store program instructions executed by the processor 710. When the processor 710 executes the program instructions, the above-mentioned method for processing vehicle jamming is implemented.
进一步地,处理器710可以包括一个或者多个处理核。处理器710运行或执行存储在存储器720内的指令、程序、代码集或指令集,以及调用存储在存储器720内的数据。可选地,处理器710可以采用数字信号处理(Digital Signal Processing,DSP)、现场可编程门阵列(Field-Programmable Gate Array,FPGA)、可编程逻辑阵列(Programmable LogicArray,PLA)中的至少一种硬件形式来实现。处理器710可集成中央处理器(CentralProcessing Unit,CPU)、图像处理器(Graphics Processing Unit,GPU)和调制解调器等中的一种或几种的组合。其中,CPU主要处理操作系统、用户界面和应用程序等;GPU用于负责显示内容的渲染和绘制;调制解调器用于处理无线通信。可以理解的是,上述调制解调器也可以不集成到处理器中,单独通过一块通信芯片进行实现。Furthermore, the processor 710 may include one or more processing cores. The processor 710 runs or executes instructions, programs, code sets or instruction sets stored in the memory 720, and calls data stored in the memory 720. Optionally, the processor 710 may be implemented in at least one hardware form of digital signal processing (DSP), field-programmable gate array (FPGA), and programmable logic array (PLA). The processor 710 may integrate one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. Among them, the CPU mainly processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing display content; and the modem is used to process wireless communications. It is understandable that the above-mentioned modem may not be integrated into the processor, but may be implemented separately through a communication chip.
根据本申请的一个方面,本申请还提供了一种计算机可读存储介质,该计算机可读介质可以是上述实施例中描述的电子设备中所包含的;也可以是单独存在,而未装配入该电子设备中。上述计算机可读存储介质承载计算机可读指令,当该计算机可读存储指令被处理器执行时,实现上述任一实施例中的方法。According to one aspect of the present application, the present application also provides a computer-readable storage medium, which may be included in the electronic device described in the above embodiment; or may exist independently without being assembled into the electronic device. The above computer-readable storage medium carries computer-readable instructions, and when the computer-readable storage instructions are executed by a processor, the method in any of the above embodiments is implemented.
需要说明的是,本申请实施例所示的计算机可读介质可以是计算机可读信号介质或者计算机可读存储介质或者是上述两者的任意组合。计算机可读存储介质例如可以是——但不限于——电、磁、光、电磁、红外线、或半导体的系统、装置或器件,或者任意以上的组合。计算机可读存储介质的更具体的例子可以包括但不限于:具有一个或多个导线的电连接、便携式计算机磁盘、硬盘、随机访问存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(Erasable Programmable Read Only Memory,EPROM)、闪存、光纤、便携式紧凑磁盘只读存储器(Compact Disc Read-Only Memory,CD-ROM)、光存储器件、磁存储器件、或者上述的任意合适的组合。在本申请中,计算机可读存储介质可以是任何包含或存储程序的有形介质,该程序可以被指令执行系统、装置或者器件使用或者与其结合使用。而在本申请中,计算机可读的信号介质可以包括在基带中或者作为载波一部分传播的数据信号,其中承载了计算机可读的程序代码。这种传播的数据信号可以采用多种形式,包括但不限于电磁信号、光信号或上述的任意合适的组合。计算机可读的信号介质还可以是计算机可读存储介质以外的任何计算机可读介质,该计算机可读介质可以发送、传播或者传输用于由指令执行系统、装置或者器件使用或者与其结合使用的程序。计算机可读介质上包含的程序代码可以用任何适当的介质传输,包括但不限于:无线、有线等等,或者上述的任意合适的组合。It should be noted that the computer-readable medium shown in the embodiment of the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, - but not limited to - an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by an instruction execution system, device or device or used in combination with it. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, wherein a computer-readable program code is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, which may send, propagate, or transmit programs for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.
附图中的流程图和框图,图示了按照本申请各种实施例的系统、方法和计算机程序产品的可能实现的体系架构、功能和操作。其中,流程图或框图中的每个方框可以代表一个模块、程序段、或代码的一部分,上述模块、程序段、或代码的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。也应当注意,在有些作为替换的实现中,方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如,两个接连地表示的方框实际上可以基本并行地执行,它们有时也可以按相反的顺序执行,这依所涉及的功能而定。也要注意的是,框图或流程图中的每个方框、以及框图或流程图中的方框的组合,可以用执行规定的功能或操作的专用的基于硬件的系统来实现,或者可以用专用硬件与计算机指令的组合来实现。The flowchart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the system, method and computer program product according to various embodiments of the present application. Wherein, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of the boxes in the block diagram or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.
本领域技术人员在考虑说明书及实践这里公开的实施方式后,将容易想到本申请的其它实施方案。本申请旨在涵盖本申请的任何变型、用途或者适应性变化,这些变型、用途或者适应性变化遵循本申请的一般性原理并包括本申请未公开的本技术领域中的公知常识或惯用技术手段。Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the embodiments disclosed herein. The present application is intended to cover any variations, uses or adaptations of the present application, which follow the general principles of the present application and include common knowledge or customary technical means in the art that are not disclosed in the present application.
应当理解的是,本申请并不局限于上面已经描述并在附图中示出的精确结构,并且可以在不脱离其范围进行各种修改和改变。本申请的范围仅由所附的权利要求来限制。It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.
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