CN117585011A

CN117585011A - Obstacle collision detection method, device and equipment

Info

Publication number: CN117585011A
Application number: CN202311303911.7A
Authority: CN
Inventors: 王子华
Original assignee: Navinfo Co Ltd
Current assignee: Navinfo Co Ltd
Priority date: 2023-10-09
Filing date: 2023-10-09
Publication date: 2024-02-23

Abstract

The embodiment of the specification discloses a method, a device and equipment for detecting obstacle collision, wherein the scheme comprises the following steps: screening out a first obstacle at a lane to be driven and a second obstacle at an adjacent lane of the lane to be driven by dividing surrounding obstacles of the target vehicle; further screening a third obstacle which possibly interferes with the target vehicle on the adjacent lane from the second obstacle; only the first obstacle and the third obstacle need be subjected to collision detection processing in the following, and no collision detection processing needs to be performed on other surrounding obstacles, so that the number of surrounding obstacles needing collision detection is reduced. Meanwhile, after screening and filtering by the method, the subsequent collision detection processing only needs to adopt a simple collision detection algorithm (such as TTC), and finally, the calculation force required by the collision detection algorithm is reduced from two aspects, so that the method can be implemented on the L2 and above-grade automatic driving vehicle.

Description

Obstacle collision detection method, device and equipment

Technical Field

The application relates to the technical field of automatic driving, in particular to a method, a device and equipment for detecting obstacle collision.

Background

The automatic driving automobile realizing mass production is mainly an L2-level automatic driving automobile. Compared with the higher-level automatic driving vehicle, the visual sensor of the L2-level automatic driving vehicle has shorter sensing distance, relatively low positioning precision and lower computing platform performance.

Limited by computing platform performance limitations, L2-level autopilot vehicles cannot carry complex and accurate prediction and planning algorithms. Therefore, the detection result of the surrounding obstacles by the L2-level automatic driving vehicle cannot accurately reflect that the obstacles can affect the running of the vehicle, so that the situation that the braking is late or the braking is wrong easily occurs when the auxiliary driving function of the L2-level automatic driving vehicle is started.

Therefore, there is a need for an obstacle collision detection that is less computationally intensive and can be implemented on existing L2 and higher class autonomous vehicles.

Disclosure of Invention

In order to solve the above-mentioned technical problems, the embodiments of the present disclosure provide a method, an apparatus, and a device for detecting an obstacle collision, so as to reduce the number of obstacles to be detected, thereby reducing the calculation effort required by the obstacle collision detection algorithm, so that the method can be implemented on an L2 or above-class autopilot vehicle.

The embodiment of the specification provides an obstacle collision detection method, which comprises the following steps:

acquiring position information of surrounding obstacles of a target vehicle and lane information of a target lane; the target lane comprises a lane to be driven of the target vehicle and an adjacent lane of the lane to be driven;

determining a first obstacle at the lane to be driven and a second obstacle at the adjacent lane from the surrounding obstacles according to the position information of the surrounding obstacles and the lane information of the target lane;

determining a third obstacle with a lane change trend from the adjacent lane to the lane to be driven from the second obstacle according to the position information of the second obstacle and the lane information of the target lane;

and detecting the collision of the target vehicle by using the first obstacle and/or the third obstacle to obtain a collision detection result of the target vehicle.

The present embodiments provide an obstacle collision detection device including:

the acquisition module is used for acquiring the position information of surrounding obstacles of the target vehicle and the lane information of the target lane; the target lane comprises a lane to be driven of the target vehicle and an adjacent lane of the lane to be driven;

The first screening module is used for determining a first obstacle at the lane to be driven and a second obstacle at the adjacent lane from the surrounding obstacles according to the position information of the surrounding obstacles and the lane information of the target lane;

a second screening module, configured to determine, from the second obstacles, a third obstacle having a lane change trend from the adjacent lane to the lane to be driven according to the position information of the second obstacle and the lane information of the target lane;

and the collision detection module is used for carrying out collision detection on the target vehicle by utilizing the first obstacle and/or the third obstacle to obtain a collision detection result of the target vehicle.

The present specification embodiment provides an obstacle collision detection apparatus including a memory, a processor, and a computer program stored on the memory, the processor executing the computer program to implement the steps of the obstacle collision detection method.

The present description provides a computer-readable storage medium having stored thereon computer instructions which, when executed by a processor, implement the steps of the obstacle collision detection method.

The present description provides a computer program product comprising computer programs/instructions which, when executed by a processor, implement the steps of the obstacle collision detection method.

The embodiments of the present specification provide a vehicle control system including a memory, a processor and a computer program stored on the memory, the processor executing the computer program to implement the method steps of:

obtaining a collision detection result of the target vehicle based on the obstacle collision detection method; and generating a vehicle control instruction of the target vehicle according to the collision detection result, wherein the vehicle control instruction is used for controlling the target vehicle to run.

The above-mentioned at least one technical scheme that this description embodiment adopted can reach following beneficial effect:

the embodiment of the specification discloses a method, a device and equipment for detecting obstacle collision, wherein the scheme comprises the following steps:

screening out a first obstacle at a lane to be driven and a second obstacle at an adjacent lane of the lane to be driven by dividing surrounding obstacles of the target vehicle; further, according to whether the lane change trend from the adjacent lane to the lane to be driven exists, a third obstacle which possibly causes interference to the target vehicle on the adjacent lane is selected from the second obstacles; the collision detection processing is only needed to be carried out on the first obstacle at the lane to be driven and the third obstacle at the adjacent lane, and the collision detection processing is not needed to be carried out on other surrounding obstacles, so that the number of surrounding obstacles needing collision detection is reduced. Meanwhile, after screening and filtering by the method, the subsequent collision detection processing only needs to adopt a simple collision detection algorithm (such as TTC), and finally, the calculation force required by the collision detection algorithm is reduced from two aspects, so that the method can be implemented on the L2 and above-grade automatic driving vehicle.

Drawings

In order to more clearly illustrate the embodiments of the present description or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some of the embodiments described in the present application, and that other drawings may be obtained according to these drawings without inventive effort to a person skilled in the art.

Fig. 1 is a schematic flow chart of an obstacle collision detection method according to an embodiment of the present disclosure.

Fig. 2 is a schematic application scenario diagram of an obstacle collision detection method according to an embodiment of the present disclosure.

Fig. 3 is a schematic structural diagram of an obstacle collision detecting apparatus corresponding to fig. 1 according to an embodiment of the present disclosure.

Fig. 4 is a schematic structural view of an obstacle collision detecting apparatus corresponding to fig. 1 provided in the embodiment of the present specification.

Detailed Description

In order to make the technical solutions in the present specification better understood by those skilled in the art, the technical solutions in the embodiments of the present specification will be clearly and completely described below with reference to the drawings in the embodiments of the present specification, and it is obvious that the described embodiments are only some embodiments of the present application, but not all embodiments. 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, shall fall within the scope of the present application.

In practical applications, when the target vehicle normally runs on a road, the target vehicle is mainly influenced by other traffic participants on a lane to be driven, and other traffic participants on adjacent lanes cannot influence the normal running of the target vehicle unless the other traffic participants on the adjacent lanes are entering the lane to be driven of the target vehicle or are about to enter the lane to be driven of the target vehicle.

In the prior art, collision detection processing is generally performed regardless of lanes in which other traffic participants are located. Meanwhile, the collision detection processing is directly performed, and the collision detection algorithm is relatively complex because of the general need of the travel track and the predicted track of other traffic participants. Because of the large number of other traffic participants that need to be processed and the complex collision detection algorithm, the existing collision detection algorithm requires a large amount of computation power and cannot be implemented on an L2-level autonomous vehicle.

Based on this, the present scheme gives the following examples:

From the program perspective, the execution subject of the flow may be a vehicle or an in-vehicle computing terminal, or may be an application program installed in the vehicle or in-vehicle computing terminal. As shown in fig. 1, the process may include the steps of:

Step 101: acquiring position information of surrounding obstacles of a target vehicle and lane information of a target lane; the target lane includes a lane to be driven of the target vehicle and an adjacent lane of the lane to be driven.

In the present embodiment, the surrounding obstacle may include other traffic participants around the target vehicle, such as a motor vehicle, a non-motor vehicle, a pedestrian, and the like. The position information of the surrounding obstacle may include position information and posture information of other individual traffic participants around the target vehicle. The position information of the surrounding obstacles can be acquired through vehicle-mounted sensing devices such as cameras and radars at the target vehicle, and sensing data (such as a dynamic data layer in a high-precision map) acquired by other traffic participants or road side devices can also be acquired based on the internet of vehicles technology.

In the embodiment of the present specification, the target lane includes a lane to be driven of the target vehicle and an adjacent lane of the lane to be driven. The lane to be driven can comprise a plurality of lanes in which the target vehicle is driving or is about to drive; the target lanes may comprise different lanes in different scenarios, say; in a straight-going scenario, the target lane may be a current lane in which the target vehicle is located; in the lane change scene, the target lane may include a start lane and a changed lane of the target vehicle traveling before and after the lane change; in a turning scene, the target lane may include a start lane and a post-turning lane, which are driven before and after turning of the target vehicle lane, and a virtual lane therebetween. The adjacent lane may be a lane directly adjacent to the target vehicle or a virtual lane. The adjacent lanes may be co-directional or opposite motor lanes, non-motor lanes or sidewalks.

In the embodiment of the present disclosure, the lane information of the target lane may include lane line information of the target lane and/or lane center line information. The lane information of the target lane can be acquired through a camera, radar and other vehicle-mounted sensing devices at the target vehicle, and can also be acquired from map data according to the positioning information of the target vehicle.

Step 103: and determining a first obstacle at the lane to be driven and a second obstacle at the adjacent lane from the surrounding obstacles according to the position information of the surrounding obstacles and the lane information of the target lane.

In this embodiment of the present disclosure, the first obstacle may be another traffic participant whose main body portion is located on the lane to be driven, or may be another traffic participant whose arbitrary portion is located on the lane to be driven. Similarly, the second obstacle may be another traffic participant whose main body is located on the adjacent lane, or may be another traffic participant whose arbitrary portion is located on the adjacent lane.

In the embodiment of the present disclosure, when the surrounding obstacle is classified into a lane, the lane to which the surrounding obstacle belongs may be determined based on the lane in which the main body portion of the surrounding obstacle exists, or a plurality of lanes having overlapping regions with the surrounding obstacle may be used as the lane in which the surrounding obstacle exists. That is, in the present embodiment, it is possible to allow one of the surrounding obstacles to belong to two or more lanes at the same time, in other words, one of the surrounding obstacles may belong to both the first obstacle and the second obstacle.

In this embodiment of the present disclosure, if a road isolation facility such as an isolation belt, an isolation railing, or an isolation pier is disposed between the adjacent lane and the lane to be driven, it may be determined that the second obstacle on the adjacent lane generally does not interfere with the target vehicle on the lane to be driven, and at this time, the subsequent lane change trend determination and collision detection process may not be performed with respect to the second obstacle on the adjacent lane, so as to further reduce the calculation force required by the collision detection method.

Step 105: and determining a third obstacle with a lane change trend from the adjacent lane to the lane to be driven from the second obstacle according to the position information of the second obstacle and the lane information of the target lane.

In the embodiment of the present disclosure, the lane change trend may be determined according to a driving direction, a direction of a vehicle head, a behavior crossing a lane line, and a state of a turn signal.

In this embodiment of the present disclosure, if a surrounding obstacle belongs to both the first obstacle and the second obstacle, it may be determined whether the surrounding obstacle has a lane change trend from the adjacent lane to the lane to be driven, and then collision detection may be directly performed.

Step 107: and detecting the collision of the target vehicle by using the first obstacle and/or the third obstacle to obtain a collision detection result of the target vehicle.

In the embodiment of the present specification, the Collision detection process may be determined based on a relatively simple Collision Time algorithm (TTC). Of course, in order to increase the accuracy of the collision detection, other relatively complex collision detection algorithms may be used for the collision detection process, without limitation.

In practical application, if there is no first obstacle at the lane to be driven or there is no second obstacle at the adjacent lane, or there is no third obstacle with lane change trend at the adjacent lane, collision detection processing is performed only for the first obstacle or the third obstacle.

In the embodiment of the present disclosure, a first obstacle at a lane to be driven and a second obstacle at an adjacent lane of the lane to be driven are screened out by dividing surrounding obstacles of a target vehicle; further, according to whether the lane change trend from the adjacent lane to the lane to be driven exists, a third obstacle which possibly causes interference to the target vehicle on the adjacent lane is selected from the second obstacles; the collision detection process is only required to be performed on the first obstacle at the lane to be driven and/or the third obstacle at the adjacent lane, and no collision detection process is required to be performed on other surrounding obstacles, so that the number of surrounding obstacles needing collision detection is reduced. Meanwhile, after screening and filtering by the method, the subsequent collision detection processing only needs to adopt a simple collision detection algorithm (such as TTC), and finally, the calculation force required by the collision detection algorithm is reduced from two aspects, so that the method can be implemented on the L2 and above-grade automatic driving vehicle.

It should be noted that the above method can also be applied to an L3 and above class of automatically driven vehicles to screen surrounding obstacles having collision risk or classify surrounding obstacles according to collision risk, thereby performing collision detection processing in a targeted manner, reducing the amount of computation required for collision detection, and reducing the degree of dependence on high-precision maps and high-precision positioning hardware.

Based on the method in fig. 1, the examples of the present specification also provide some specific embodiments of the method, as described below.

Optionally, the step 105: according to the position information of the second obstacle and the lane information of the target lane, determining a third obstacle with a lane change trend from the adjacent lane to the lane to be driven from the second obstacle specifically comprises:

calculating a deviation angle of the estimated motion direction of the second obstacle relative to the preset vehicle passing direction of the adjacent lane according to the position information of the second obstacle and the lane information of the adjacent lane aiming at any one of the second obstacles;

judging whether the deviation angle falls into a preset angle interval or not to obtain a first judgment result;

And if the first judgment result shows that the deviation angle falls into a preset angle interval, determining the second obstacle as the third obstacle.

In the embodiment of the present disclosure, the lane information of the adjacent lane may include lane line information of the adjacent lane, and/or lane center line information.

In this embodiment of the present disclosure, the estimated movement direction of the second obstacle may be a direction of a vehicle head of the second obstacle, or may be a movement direction of the second obstacle.

In this embodiment of the present disclosure, the preset vehicle passing direction of the adjacent lane may be a tangential direction of a lane line or a lane center line of the adjacent lane at the second obstacle.

In this embodiment of the present disclosure, the deviation angle is an included angle between the estimated movement direction of the second obstacle and the preset vehicle passing direction of the adjacent lane.

In this embodiment of the present disclosure, the preset angle interval may be freely set according to actual situations. When the estimated movement direction points to the lane to be driven, the value range of the deviation angle is set to be 0 to +180 degrees, otherwise, the value range of the deviation angle is set to be-180 to 0 degrees. At this time, the preset angle interval may be 15 ° -165 °.

Optionally, the second obstacle comprises a motor vehicle;

calculating a deviation angle of the estimated motion direction of the second obstacle relative to a preset vehicle passing direction of the adjacent lane according to the position information of the second obstacle and the lane information of the adjacent lane specifically includes:

determining contour information of the second obstacle according to the environmental perception data of the target vehicle;

determining the head direction of the second obstacle according to the outline information of the second obstacle; the estimated motion direction comprises the head direction of the second obstacle;

calculating a preset vehicle passing direction of the adjacent lane at the second obstacle according to the position information of the second obstacle and the lane information of the adjacent lane;

and calculating an included angle between the head direction and the lane direction to obtain a deviation angle of the second obstacle relative to the adjacent lane.

In this embodiment of the present disclosure, the environmental awareness data of the target vehicle may be acquired by a vehicle-mounted awareness device such as a camera or a radar at the target vehicle, or may also be acquired by awareness data acquired by other traffic participants or road side devices based on the internet of vehicles technology.

In practical application, since the centroid side deflection angle (i.e. the included angle between the centroid moving direction and the headstock direction) of the second obstacle is generally smaller in the lane changing process, the headstock direction of the second obstacle can be used as the estimated moving direction for subsequent calculation.

In this embodiment of the present disclosure, the heading may be in a direction of a longitudinal axis of the second obstacle.

Optionally, the calculating, according to the position information of the second obstacle and the lane information of the adjacent lane, a preset vehicle passing direction of the adjacent lane at the second obstacle specifically includes:

determining a target point closest to the second obstacle on a target lane central line of the adjacent lane according to the position information of the second obstacle and the lane information of the adjacent lane;

and determining a tangent line of the center line of the target lane at the target point according to the lane information of the adjacent lane to obtain a preset vehicle passing direction of the adjacent lane at the second obstacle.

In the embodiment of the present specification, the target lane center line may be a lane center line of the adjacent lane where the second obstacle is located.

In the embodiment of the present specification, the target point may be a point at which the distance from the rear wheel center position or the vehicle center position of the second obstacle is smallest.

In the embodiment of the present disclosure, the preset vehicle passing direction of the adjacent lane at the second obstacle is determined according to the passing direction of the adjacent lane and the tangent line of the center line of the target lane at the target point.

for any one of the second obstacles, calculating a first distance from the center position of the second obstacle to a target lane line according to the position information of the second obstacle and the lane information of the lane to be driven; the target lane line is one lane line closest to the second obstacle in the lane lines of the lanes to be driven;

if the first distance is smaller than a preset threshold value, determining contour information of the second obstacle according to the environmental perception data of the target vehicle;

Generating a region where the second obstacle is located according to the outline information of the second obstacle;

judging whether the area where the second obstacle is located and the lane to be driven have an overlapping area or not;

and if the area where the second obstacle is located and the lane to be driven have an overlapping area, determining the second obstacle as the third obstacle.

In the embodiment of the present specification, the position information of the second obstacle may include position information of the second obstacle in a body coordinate system of the target vehicle. The position information of the second obstacle includes a center position of the second obstacle.

In this embodiment of the present disclosure, the first distance is the shortest distance from the center position of the second obstacle to the target lane line.

In the embodiment of the present specification, the first obstacle may be another traffic participant whose main body portion is located on the lane to be driven; the second obstacle may be another traffic participant whose body portion is located on the adjacent lane.

In this embodiment of the present disclosure, if the area where the second obstacle is located and the lane to be driven have an overlapping area, it may be determined that a portion of the second obstacle has entered the lane to be driven, and the second obstacle has a lane change tendency from the adjacent lane to the lane to be driven, which may affect the target vehicle on the lane to be driven.

In this embodiment of the present disclosure, the preset threshold may be set uniformly according to actual needs, for example, 1.5 meters. The preset threshold may also be set according to the type of motor vehicle to which the second obstacle belongs.

In practical applications, the turn signal may be used to indicate a driving trend of the vehicle, based on which the obstacle collision detection method may further include:

and if the turn signal lamp of the second obstacle, which is close to one side of the lane to be driven, is in an on state, determining the second obstacle as the third obstacle.

Optionally, the step 103: according to the position information of the surrounding obstacles and the lane information of the target lane, determining a first obstacle at the lane to be driven and a second obstacle at the adjacent lane from the surrounding obstacles specifically comprises:

calculating a second distance from the center position of the surrounding obstacle to the center line of the target lane of the lane to be driven according to the position information of the surrounding obstacle and the lane information of the lane to be driven for any one of the surrounding obstacles;

judging whether the surrounding obstacles are positioned on the lane to be driven according to whether the second distance falls into a first distance interval of the lane to be driven;

And judging whether the surrounding barrier is positioned on the adjacent lane according to whether the second distance falls into a second distance section of the adjacent lane.

In the embodiment of the present specification, the second distance may be a shortest distance from a center position of the surrounding obstacle to a target lane center line of the lane to be driven.

In this embodiment of the present disclosure, the first distance interval may be used to screen other traffic participants whose main body portion is located on the lane to be driven, and may also be used to screen other traffic participants whose arbitrary portion is located on the lane to be driven. Similarly, the second distance interval may be used to screen other traffic participants whose subject portions are located on the adjacent lane, and may also be used to screen any other traffic participants whose subject portions are located on the adjacent lane.

In the embodiment of the present disclosure, the first distance interval may be set according to the type of the lane to be driven and the lane width. The second distance interval may be determined according to a position of the adjacent lane with respect to the lane to be driven, and lane widths of the adjacent lane and the adjacent lane.

In the embodiment of the present disclosure, when determining the lane to which the surrounding obstacle belongs according to the lane in which the main body portion of the surrounding obstacle is located, the end points of the first distance section and the second distance section may be determined according to the distances between the lane lines of the lane to be driven and the adjacent lane and the center line of the target lane. In determining the lane to which the surrounding obstacle belongs according to the lane in which any portion thereof is located, it is necessary to refer to the width of the vehicle in addition to the distance between the lane line of the lane to be driven and the adjacent lane and the center line of the target lane. At this time, the first distance section and the second distance section may have overlapping portions.

In the embodiment of the present specification, the target lane center line may be a lane center line of the lane to be driven; if the number of the lanes to be driven is greater than one, the lane center line of any one of the lanes to be driven may be used.

For example, in a right lane change scenario, the lane to be driven includes a start lane and a post-change lane of the target vehicle that are driven before and after the lane change; the adjacent lanes include a first adjacent lane other than the changed lane among the adjacent lanes of the starting lane and/or a second adjacent lane other than the starting lane among the adjacent lanes of the changed lane. The target lane centerline may select a lane line of the starting lane. Assuming that the width of all lanes is S, and determining the lane to which the surrounding obstacle belongs according to the lane in which the main body portion of the surrounding obstacle exists. The first distance interval may be-S/2 to 3S/2, the second distance interval corresponding to the first adjacent lane may be-3S/2 to-S/2, and the second distance interval corresponding to the second adjacent lane may be 3S/2 to 5S/2.

Optionally, the lane to be driven includes a starting lane and a changed lane of the target vehicle for driving before and after the lane change; the adjacent lanes include a first adjacent lane other than the changed lane among the adjacent lanes of the starting lane and/or a second adjacent lane other than the starting lane among the adjacent lanes of the changed lane;

Specifically, the step 103: according to the position information of the surrounding obstacles and the lane information of the target lane, determining a first obstacle at the lane to be driven and a second obstacle at the adjacent lane from the surrounding obstacles specifically comprises:

determining a fourth obstacle at the starting lane and a fifth obstacle at the changed lane from the surrounding obstacles according to the position information of the surrounding obstacles and the lane information of the lane to be driven, and obtaining the first obstacle at the lane to be driven;

according to the position information of the surrounding obstacles and the lane information of the target lane, determining a sixth obstacle at the first adjacent lane and/or a seventh obstacle at the second adjacent lane from the surrounding obstacles, and obtaining the second obstacle at the adjacent lane;

the step 105: according to the position information of the second obstacle and the lane information of the target lane, determining a third obstacle with a lane change trend from the adjacent lane to the lane to be driven from the second obstacle specifically comprises:

Determining a sixth obstacle having a lane change tendency from the first adjacent lane to the start lane as the third obstacle based on the position information of the sixth obstacle and the lane information of the target lane; and/or the number of the groups of groups,

and determining a seventh obstacle having a tendency to make a lane change from the second adjacent lane to the post-change lane as the third obstacle based on the position information of the seventh obstacle and the lane information of the target lane.

In practical applications, it is generally not allowed to continuously change more than two motor vehicle lanes in a lane change scene, and therefore, the starting lane and the changed lane are substantially adjacent to each other. However, due to the fourth obstacle at the starting lane and the fifth obstacle at the changed lane, collision detection processing is required regardless of whether there is a lane change tendency; therefore, it is not necessary to judge the lane change tendency for the fourth obstacle and the fifth obstacle.

In the embodiment of the present disclosure, the first adjacent lane may be a lane located on a side of the start lane away from the changed lane; the second adjacent lane may be a lane located on a side of the changed lane away from the starting lane. For example, in a right lane change scenario, the first adjacent lane may be an opposing lane adjacent to the starting lane at the current road, and the second adjacent lane may be a non-motorized lane adjacent to the post-change lane.

In the embodiment of the present disclosure, the first adjacent lane and the second adjacent lane may exist at the same time, or only one of them may exist, which does not hinder the execution of the subsequent steps.

In the embodiment of the present disclosure, in the lane change scenario, the lane to be driven may include a starting lane where the target vehicle is located before the lane change, and a post-change lane where the target vehicle enters after the lane change. The first obstacle at the lane to be driven may include a fourth obstacle at the starting lane and a fifth obstacle at the changed lane. The second obstacle may include a sixth obstacle at the first adjacent lane and/or a seventh obstacle at a second adjacent lane. The third obstacle may include a sixth obstacle having a lane change trend from the first adjacent lane to the starting lane, and/or a seventh obstacle having a lane change trend from the second adjacent lane to the post-change lane.

Fig. 2 is a schematic application scenario diagram of an obstacle collision detection method according to an embodiment of the present disclosure. Wherein 1 is the initial lane, 2 is the changed lane, 3 is the first adjacent lane, and 4 is the second adjacent lane; 5 is the target vehicle, 6 is the fourth obstacle at the starting lane, 7 is the fifth obstacle at the changed lane, 8 is the sixth obstacle at the first adjacent lane, 9 is the seventh obstacle at the second adjacent lane, and 10 is the third obstacle.

Fig. 2 shows a schematic view of an application scenario of the obstacle collision detection method in a scenario in which the target vehicle 5 makes a lane change from the initial lane 1 to the post-change lane 2. The following is a specific description with reference to fig. 2:

from the surrounding obstacles, a fourth obstacle 6 at the starting lane 1 and a fifth obstacle 7 at the post-change lane 2 are determined based on the position information of the surrounding obstacle, the lane information of the starting lane 4 and the lane information of the post-change lane 2.

From the surrounding obstacles, a sixth obstacle 8 at the first adjacent lane 3 and a seventh obstacle 9 at the second adjacent lane 4 are determined based on the position information of the surrounding obstacles, and the lane information of the starting lane 1, the changed lane 2, the first adjacent lane 3 and the second adjacent lane 4.

Determining a sixth obstacle 8 having a lane change tendency from the first adjacent lane to the starting lane as the third obstacle 10 based on the position information of the sixth obstacle 8 and the lane information of the starting lane 1 and the first adjacent lane 3;

A seventh obstacle 9 having a tendency to make a lane change from the second adjacent lane 4 to the post-change lane 2 is determined as the third obstacle 10 based on the position information of the seventh obstacle 8 and the lane information of the post-change lane 2 and the second adjacent lane 4.

Adding a fourth obstacle 6 at the initial lane 1, a fifth obstacle 7 at the changed lane 2, a sixth obstacle 8 at the first adjacent lane 3 and a seventh obstacle 9 at the second adjacent lane 4 to a set of obstacles to be detected.

And aiming at any surrounding obstacle in the obstacle set to be detected, performing collision detection processing on the surrounding obstacle and the target vehicle 5 to obtain a collision detection result of the target vehicle 5.

Optionally, the lane to be driven includes a current lane in which the target vehicle is located; the adjacent lanes include a third adjacent lane on one side of the starting lane and/or a fourth adjacent lane on the other side of the starting lane.

According to the position information of the surrounding obstacles and the lane information of the current lane, determining an eighth obstacle at the current lane from the surrounding obstacles to obtain a first obstacle at the lane to be driven;

according to the position information of the surrounding obstacles and the lane information of the target lane, determining a ninth obstacle at the third adjacent lane and/or a tenth obstacle at the fourth adjacent lane from the surrounding obstacles, and obtaining the second obstacle at the adjacent lane;

determining a ninth obstacle having a lane change tendency from the third adjacent lane to the current lane as the third obstacle according to the position information of the ninth obstacle and the lane information of the target lane; and/or the number of the groups of groups,

and determining a tenth obstacle having a lane change trend from the fourth adjacent lane to the current lane as the third obstacle according to the position information of the tenth obstacle and the lane information of the target lane.

In this embodiment of the present disclosure, the third adjacent lane and the fourth adjacent lane are two lanes that are on two sides of the current lane and are adjacent to the current lane, respectively. For example, the first adjacent lane and the second adjacent lane may be the same-direction lanes adjacent to the left and right sides of the current lane, respectively.

In the embodiment of the present disclosure, the third adjacent lane and the fourth adjacent lane may exist at the same time, or only one of them may exist, which does not prevent the execution of the subsequent steps.

In the embodiment of the present specification, in a straight-going scenario, the first obstacle may include an eighth obstacle at the current lane; the second obstacle may include a ninth obstacle at the third adjacent lane and/or a tenth obstacle at a fourth adjacent lane; the third obstacle may include a ninth obstacle having a lane change trend from the third adjacent lane to the current lane, and/or a tenth obstacle having a lane change trend from the fourth adjacent lane to the current lane.

Based on the same thought, the embodiment of the specification also provides a device corresponding to the method.

Fig. 3 is a schematic structural diagram of an obstacle collision detecting apparatus corresponding to fig. 1 according to an embodiment of the present disclosure. As shown in fig. 3, the apparatus may include:

an acquisition module 301, configured to acquire position information of surrounding obstacles of a target vehicle and lane information of a target lane; the target lane comprises a lane to be driven of the target vehicle and an adjacent lane of the lane to be driven;

a first screening module 303, configured to determine, from the surrounding obstacles, a first obstacle at the lane to be driven and a second obstacle at the adjacent lane according to the position information of the surrounding obstacles and the lane information of the target lane;

a second screening module 305, configured to determine, from the second obstacles, a third obstacle having a lane change trend from the adjacent lane to the lane to be driven according to the position information of the second obstacle and the lane information of the target lane;

and the collision detection module 307 is configured to perform collision detection on the target vehicle by using the first obstacle and/or the third obstacle, so as to obtain a collision detection result of the target vehicle.

The present examples also provide some embodiments of the method based on the apparatus of fig. 3, as described below.

Optionally, the second screening module 305 specifically includes:

the angle calculating unit may be configured to calculate, for any one of the second obstacles, a deviation angle of the estimated movement direction of the second obstacle with respect to a preset vehicle passing direction of the adjacent lane according to the position information of the second obstacle and the lane information of the adjacent lane;

the angle judging unit can be used for judging whether the deviation angle falls into a preset angle interval or not to obtain a first judging result;

the first screening unit may be configured to determine the second obstacle as the third obstacle if the first determination result indicates that the deviation angle falls within a preset angle interval.

Optionally, the second obstacle comprises a motor vehicle;

the angle judging unit specifically includes:

a contour determination subunit, configured to determine contour information of the second obstacle according to environmental awareness data of the target vehicle;

the direction determining subunit can be used for determining the direction of the vehicle head of the second obstacle according to the outline information of the second obstacle; the estimated motion direction comprises the head direction of the second obstacle;

A traffic direction subunit, configured to calculate a preset vehicle traffic direction of the adjacent lane at the second obstacle according to the position information of the second obstacle and the lane information of the adjacent lane;

and the angle calculating subunit can be used for calculating the included angle between the head direction and the lane direction to obtain the deviation angle of the second obstacle relative to the adjacent lane.

Optionally, the traffic direction subunit may be specifically configured to:

Optionally, the second screening module 305 specifically includes:

a first distance calculating unit, configured to calculate, for any one of the second obstacles, a first distance from a center position of the second obstacle to a target lane line according to position information of the second obstacle and lane information of the lane to be driven; the target lane line is one lane line closest to the second obstacle in the lane lines of the lanes to be driven;

The contour determining unit may be configured to determine contour information of the second obstacle according to the environmental awareness data of the target vehicle if the first distance is smaller than a preset threshold;

the area determining unit can be used for generating the area where the second obstacle is located according to the outline information of the second obstacle;

an overlap determination unit operable to determine whether or not the region where the second obstacle is located and the lane to be driven have an overlap region;

and the second screening unit is used for determining the second obstacle as the third obstacle if the area where the second obstacle is located and the lane to be driven have an overlapping area.

Optionally, the first screening module 303 specifically includes:

a second distance calculating unit configured to calculate, for any one of the surrounding obstacles, a second distance from a center position of the surrounding obstacle to a target lane center line of the lane to be driven, based on position information of the surrounding obstacle and lane information of the lane to be driven;

the third screening unit can be used for judging whether the surrounding barrier is positioned on the lane to be driven according to whether the second distance falls into a first distance interval of the lane to be driven;

And the fourth screening unit is used for judging whether the surrounding barrier is positioned on the adjacent lane according to whether the second distance falls into a second distance interval of the adjacent lane.

optionally, the first screening module 303 may specifically be configured to:

The second screening module 305 may specifically be configured to:

Optionally, the lane to be driven includes a current lane in which the target vehicle is located; the adjacent lanes comprise a third adjacent lane on one side of the starting lane and/or a fourth adjacent lane on the other side of the starting lane;

optionally, the first screening module 303 may specifically be configured to:

The second screening module 305 may specifically be configured to:

Based on the same thought, the embodiment of the specification also provides equipment corresponding to the method.

Fig. 4 is a schematic structural view of an obstacle collision detecting apparatus corresponding to fig. 1 provided in the embodiment of the present specification. As shown in fig. 4, the apparatus 400 may include:

at least one processor 410; the method comprises the steps of,

a memory 430 communicatively coupled to the at least one processor; wherein,

the memory 430 stores instructions 420 executable by the at least one processor 410, the instructions being executable by the at least one processor 410 to enable the at least one processor 410 to:

Based on the same idea, embodiments of the present disclosure provide a computer readable storage medium having stored thereon computer instructions, which when executed by a processor, implement the steps of the obstacle collision detection method.

Based on the same idea, embodiments of the present disclosure provide a computer program product comprising a computer program/instruction that, when executed by a processor, implements the steps of the obstacle collision detection method.

Based on the same idea, the embodiments of the present disclosure provide a vehicle control system, including a memory, a processor and a computer program stored on the memory, where the processor executes the computer program to implement the following method steps:

In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for the apparatus, the storage medium, and the program in the embodiments of the present specification, since they are substantially similar to the method embodiments, the description is relatively simple, and the relevant points are referred to in the partial description of the method embodiments.

In the 90 s of the 20 th century, improvements to one technology could clearly be distinguished as improvements in hardware (e.g., improvements to circuit structures such as diodes, transistors, switches, etc.) or software (improvements to the process flow). However, with the development of technology, many improvements of the current method flows can be regarded as direct improvements of hardware circuit structures. Designers almost always obtain corresponding hardware circuit structures by programming improved method flows into hardware circuits. Therefore, an improvement of a method flow cannot be said to be realized by a hardware entity module. For example, a programmable logic device (Programmable Logic Device, PLD) (e.g., field programmable gate array (Field Programmable Gate Array, FPGA)) is an integrated circuit whose logic function is determined by the programming of the device by a user. The designer programs itself to "integrate" a digital system onto a single PLD without requiring the chip manufacturer to design and fabricate application specific integrated circuit chips. Moreover, nowadays, instead of manually manufacturing integrated circuit chips, such programming is mostly implemented by using "logic compiler" software, which is similar to the software compiler used in program development and writing, and the original code before the compiling is also written in a specific programming language, which is called hardware description language (Hardware Description Language, HDL), but not just one of the hdds, but a plurality of kinds, such as ABEL (Advanced Boolean EXpression Language), AHDL (Altera Hardware Description Language), confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), lava, lola, myHDL, PALASM, RHDL (Ruby Hardware Description Language), etc., VHDL (Very-High-Speed Integrated Circuit Hardware Description Language) and Verilog are currently most commonly used. It will also be apparent to those skilled in the art that a hardware circuit implementing the logic method flow can be readily obtained by merely slightly programming the method flow into an integrated circuit using several of the hardware description languages described above.

The controller may be implemented in any suitable manner, for example, the controller may take the form of, for example, a microprocessor or processor and a computer readable medium storing computer readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, application specific integrated circuits (Application Specific Integrated Circuit, ASIC), programmable logic controllers, and embedded microcontrollers, examples of which include, but are not limited to, the following microcontrollers: ARC 625D, atmel AT91SAM, microchip PIC18F26K20, and Silicone Labs C8051F320, the memory controller may also be implemented as part of the control logic of the memory. Those skilled in the art will also appreciate that, in addition to implementing the controller in a pure computer readable program code, it is well possible to implement the same functionality by logically programming the method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc. Such a controller may thus be regarded as a kind of hardware component, and means for performing various functions included therein may also be regarded as structures within the hardware component. Or even means for achieving the various functions may be regarded as either software modules implementing the methods or structures within hardware components.

The system, apparatus, module or unit set forth in the above embodiments may be implemented in particular by a computer chip or entity, or by a product having a certain function. One typical implementation is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

For convenience of description, the above devices are described as being functionally divided into various units, respectively. Of course, the functions of each element may be implemented in one or more software and/or hardware elements when implemented in the present application.

It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention 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.

The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

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, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. 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. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.

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.

The application may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The application may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.

The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.

Claims

1. An obstacle collision detection method, comprising:

2. The method of claim 1, wherein the determining a third obstacle having a lane change trend from the adjacent lane to the lane to be driven from the second obstacle based on the position information of the second obstacle and the lane information of the target lane, comprises:

3. The method of claim 2, wherein the second obstacle comprises a motor vehicle;

calculating a deviation angle of the estimated motion direction of the second obstacle relative to the preset vehicle passing direction of the adjacent lane according to the position information of the second obstacle and the lane information of the adjacent lane, wherein the method comprises the following steps:

4. The method of claim 3, wherein the calculating the preset vehicle passing direction of the adjacent lane at the second obstacle according to the position information of the second obstacle and the lane information of the adjacent lane specifically includes:

5. The method according to any one of claims 1 to 4, wherein the determining a third obstacle having a lane change trend from the adjacent lane to the lane to be driven from the second obstacle based on the position information of the second obstacle and the lane information of the target lane, comprises:

6. The method according to any one of claims 1-4, wherein the determining, from the surrounding obstacles, a first obstacle at the lane to be driven and a second obstacle at the adjacent lane according to the position information of the surrounding obstacles and the lane information of the target lane, specifically includes:

7. The method of any one of claims 1-6, wherein the lane to be driven includes a start lane and a post-change lane of the target vehicle driving before and after the lane change; the adjacent lanes include a first adjacent lane other than the changed lane among the adjacent lanes of the starting lane and/or a second adjacent lane other than the starting lane among the adjacent lanes of the changed lane.

8. The method of any one of claims 1-6, wherein the lane to be driven comprises a current lane in which the target vehicle is located; the adjacent lanes include a third adjacent lane on one side of the starting lane and/or a fourth adjacent lane on the other side of the starting lane.

9. An obstacle collision detection device, characterized by comprising:

10. An obstacle collision detection device comprising a memory, a processor and a computer program stored on the memory, characterized in that the processor executes the computer program to carry out the steps of the method according to any one of claims 1 to 8.

11. A computer readable storage medium/computer program product having stored thereon a computer program/instructions, which when executed by a processor, realizes the steps of the method according to any of claims 1 to 8.

12. A vehicle control system comprising a memory, a processor and a computer program stored on the memory, characterized in that the processor executes the computer program to carry out the method steps of:

obtaining a collision detection result of the target vehicle based on the method of any one of claims 1 to 8; and generating a vehicle control instruction of the target vehicle according to the collision detection result, wherein the vehicle control instruction is used for controlling the target vehicle to run.