CN117690110A - Geometric information determination method and device for obstacle and computer equipment - Google Patents
Geometric information determination method and device for obstacle and computer equipment Download PDFInfo
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Abstract
The present application relates to a method, an apparatus, a computer device, a storage medium and a computer program product for determining geometrical information of an obstacle. The method comprises the following steps: determining detour track information of a target vehicle based on vehicle track point information and vehicle running state information of the target vehicle; screening a plurality of detour track information corresponding to the target obstacle based on detour track information, lane information and detour conditions of the same obstacle of each target vehicle; determining the occupied lane direction and size information of the target obstacle based on the plurality of detour track information and the lane information corresponding to the target obstacle; taking the lane occupation direction of the target obstacle as the geometric generation direction of the target obstacle, and generating geometric information of the target obstacle based on the geometric generation direction and the size information. The method can improve the efficiency of determining the geometric information of the obstacle.
Description
Technical Field
The present invention relates to the technical field of automatic driving high-precision dynamic map data production, and in particular, to a geometric information determining method, device, computer equipment, storage medium and computer program product for an obstacle.
Background
With the development of the autopilot industry, new requirements are put on updating of high-precision map data. When a traffic obstacle appears on a lane, it is no longer sufficient to treat the traffic obstacle as a point and acquire only the position information of the obstacle point, and it is also desirable to acquire the geometric information of the traffic obstacle to achieve more accurate local path planning.
The method for determining the geometric information of the related obstacle comprises the steps of obtaining internal and external parameters of a camera according to calibration after the obstacle is detected by image or video recognition, obtaining image point cloud in a three-dimensional reconstruction mode, and then editing the three-dimensional reconstructed image point cloud manually to obtain the geometric polygon of the traffic obstacle.
However, the related geometric information determining method of the obstacle needs manual editing to acquire the geometric information of the obstacle, so that the time consumption is long, the efficiency is low, and the requirement of the minute-level updating frequency of the traffic obstacle in the high-precision dynamic map is difficult to meet.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a geometric information determination method, apparatus, computer device, computer-readable storage medium, and computer program product of an obstacle that can improve efficiency.
In a first aspect, the present application provides a method for determining geometric information of an obstacle, including:
determining detour track information of a target vehicle based on vehicle track point information and vehicle running state information of the target vehicle;
screening a plurality of detour track information corresponding to the target obstacle based on detour track information, lane information and detour conditions of the same obstacle of each target vehicle;
determining the occupied lane direction and size information of the target obstacle based on the plurality of detour track information and the lane information corresponding to the target obstacle;
taking the lane occupation direction of the target obstacle as the geometric generation direction of the target obstacle, and generating geometric information of the target obstacle based on the geometric generation direction and the size information.
In one embodiment, the vehicle running state information includes heading angle information, turn light information, steering wheel corner information and steering wheel corner speed information, and the determining the detour track information of the target vehicle based on the vehicle track point information and the vehicle running state information of the target vehicle includes:
and inputting the vehicle track point information, the course angle information, the steering lamp information, the steering wheel corner information and the steering wheel corner speed information of the target vehicle into a pre-trained detour track analysis model to obtain detour track information of the target vehicle.
In one embodiment, the detour conditions of the same obstacle include a space sub-condition, a time sub-condition and a number sub-condition, and the screening a plurality of detour track information corresponding to the target obstacle based on detour track information, lane information and detour conditions of the same obstacle includes:
screening a plurality of space detour track information corresponding to the target obstacle meeting the space sub-condition based on detour track information of each target vehicle and lane information;
screening a plurality of time detour track information corresponding to the target obstacle meeting the time sub-condition from the plurality of space detour track information based on the plurality of space detour track information and the straight-going track information of the vehicle;
and counting the track number of the plurality of pieces of time detour track information, and taking the plurality of pieces of time detour track information as a plurality of pieces of detour track information corresponding to the target obstacle if the track number meets the number sub-condition.
In one embodiment, the lane information includes a lane width, the size information includes first size information and second size information, and determining the occupied lane direction and size information of the target obstacle based on the plurality of detour track information corresponding to the target obstacle and the lane information includes:
Taking the driving directions of the plurality of detour track information corresponding to the target obstacle as the lane occupation direction of the target obstacle;
determining the minimum width of a plurality of detour tracks corresponding to the target obstacle in the vertical direction of the lane, information of reentering the lane occupied by the target obstacle and the maximum distance from the starting point of the lane occupied by the target obstacle to the stop line based on the plurality of detour track information corresponding to the target obstacle;
calculating first size information of the target obstacle based on the minimum width and the lane width;
and calculating second size information of the target obstacle based on the information of reentering the target obstacle occupying lane and the maximum distance from the starting point to the stop line of the target obstacle occupying lane.
In one embodiment, the calculating the first size information of the target obstacle based on the minimum width and the lane width includes:
taking the lane width as first size information of the target obstacle in a case where the minimum width is less than or equal to the lane width;
determining a target multiple based on a ratio of the minimum width to the lane width if the minimum width is greater than the lane width;
Multiplying the target multiple by the lane width to obtain first size information of the target obstacle.
In one embodiment, the calculating the second size information of the target obstacle based on the information of reentering the target obstacle occupying lane and a maximum distance from a start point to a stop line of the target obstacle occupying lane includes:
if the information of reentering the target obstacle occupation lane indicates that track data of reentering the target obstacle occupation lane does not exist and the maximum distance from the starting point of the target obstacle occupation lane to the stop line is greater than or equal to a preset length threshold, taking the length threshold as second size information of the target obstacle;
if the information of reentering the target obstacle occupation lane indicates that track data of reentering the target obstacle occupation lane does not exist and the maximum distance from the starting point of the target obstacle occupation lane to the stop line is smaller than a preset length threshold value, taking the maximum distance from the starting point of the target obstacle occupation lane to the stop line as second size information of the target obstacle;
And if the information of reentering the target obstacle occupation lane indicates that track data of reentering the target obstacle occupation lane exists, reentering a plurality of detour tracks corresponding to the target obstacle into the minimum distance of the target obstacle occupation lane in the lane driving direction as second size information of the target obstacle.
In a second aspect, the present application further provides a geometric information determining device for an obstacle, including:
the first determining module is used for determining the detour track information of the target vehicle based on the vehicle track point information and the vehicle running state information of the target vehicle;
the screening module is used for screening a plurality of detour track information corresponding to the target obstacle based on detour track information, lane information and detour conditions of the same obstacle of each target vehicle;
a second determining module, configured to determine an occupied lane direction and size information of the target obstacle based on the plurality of detour track information and the lane information corresponding to the target obstacle;
the generating module is used for taking the lane occupation direction of the target obstacle as the geometric generating direction of the target obstacle and generating the geometric information of the target obstacle based on the geometric generating direction and the size information.
In one embodiment, the vehicle running state information includes heading angle information, turn light information, steering wheel angle information and steering wheel angle speed information, and the first determining module is specifically configured to:
and inputting the vehicle track point information, the course angle information, the steering lamp information, the steering wheel corner information and the steering wheel corner speed information of the target vehicle into a pre-trained detour track analysis model to obtain detour track information of the target vehicle.
In one embodiment, the detour condition of the same obstacle includes a space sub-condition, a time sub-condition and a number sub-condition, and the screening module is specifically configured to:
screening a plurality of space detour track information corresponding to the target obstacle meeting the space sub-condition based on detour track information of each target vehicle and lane information;
screening a plurality of time detour track information corresponding to the target obstacle meeting the time sub-condition from the plurality of space detour track information based on the plurality of space detour track information and the straight-going track information of the vehicle;
and counting the track number of the plurality of pieces of time detour track information, and taking the plurality of pieces of time detour track information as a plurality of pieces of detour track information corresponding to the target obstacle if the track number meets the number sub-condition.
In one embodiment, the lane information includes a lane width, the size information includes first size information and second size information, and the second determining module is specifically configured to:
taking the driving directions of the plurality of detour track information corresponding to the target obstacle as the lane occupation direction of the target obstacle;
determining the minimum width of a plurality of detour tracks corresponding to the target obstacle in the vertical direction of the lane, information of reentering the lane occupied by the target obstacle and the maximum distance from the starting point of the lane occupied by the target obstacle to the stop line based on the plurality of detour track information corresponding to the target obstacle;
calculating first size information of the target obstacle based on the minimum width and the lane width;
and calculating second size information of the target obstacle based on the information of reentering the target obstacle occupying lane and the maximum distance from the starting point to the stop line of the target obstacle occupying lane.
In one embodiment, the second determining module is specifically configured to:
taking the lane width as first size information of the target obstacle in a case where the minimum width is less than or equal to the lane width;
Determining a target multiple based on a ratio of the minimum width to the lane width if the minimum width is greater than the lane width;
multiplying the target multiple by the lane width to obtain first size information of the target obstacle.
In one embodiment, the second determining module is specifically configured to:
if the information of reentering the target obstacle occupation lane indicates that track data of reentering the target obstacle occupation lane does not exist and the maximum distance from the starting point of the target obstacle occupation lane to the stop line is greater than or equal to a preset length threshold, taking the length threshold as second size information of the target obstacle;
if the information of reentering the target obstacle occupation lane indicates that track data of reentering the target obstacle occupation lane does not exist and the maximum distance from the starting point of the target obstacle occupation lane to the stop line is smaller than a preset length threshold value, taking the maximum distance from the starting point of the target obstacle occupation lane to the stop line as second size information of the target obstacle;
and if the information of reentering the target obstacle occupation lane indicates that track data of reentering the target obstacle occupation lane exists, reentering a plurality of detour tracks corresponding to the target obstacle into the minimum distance of the target obstacle occupation lane in the lane driving direction as second size information of the target obstacle.
In a third aspect, the present application also provides a computer device comprising a memory storing a computer program and a processor implementing the steps of the first aspect described above when the processor executes the computer program.
In a fourth aspect, the present application also provides a computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of the first aspect described above.
In a fifth aspect, the present application also provides a computer program product comprising a computer program which, when executed by a processor, implements the steps of the first aspect described above.
The above-described geometric information determination method, apparatus, computer device, storage medium, and computer program product of an obstacle, determine detour trajectory information of a target vehicle based on vehicle trajectory point information and vehicle running state information of the target vehicle; screening a plurality of detour track information corresponding to the target obstacle based on detour track information, lane information and detour conditions of the same obstacle of each target vehicle; determining the occupied lane direction and size information of the target obstacle based on the plurality of detour track information and the lane information corresponding to the target obstacle; taking the lane occupation direction of the target obstacle as the geometric generation direction of the target obstacle, and generating geometric information of the target obstacle based on the geometric generation direction and the size information. Therefore, the geometric information of the traffic barrier at the lane level can be automatically generated only based on the vehicle track point information and the vehicle running state information, no manual intervention is needed, the time consumption is short, the efficiency of determining the geometric information of the barrier can be improved, and the requirement of updating the frequency of the traffic barrier at the minute level in the high-precision dynamic map can be met.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the related art, the drawings that are required to be used in the embodiments or the related technical descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to the drawings without inventive effort for a person having ordinary skill in the art.
FIG. 1 is a flow chart of a method for determining geometric information of an obstacle in one embodiment;
FIG. 2 is a flowchart illustrating a step of screening a plurality of detour trajectory information corresponding to a target obstacle according to an embodiment;
FIG. 3 is a schematic diagram of a geometric segment corresponding to the detour trace information in one embodiment;
FIG. 4 is a flow chart of steps for determining lane occupancy direction and size information for a target obstacle in one embodiment;
FIG. 5 is a flowchart illustrating a step of calculating first size information of a target obstacle according to an embodiment;
FIG. 6 is a schematic diagram of the width of a target obstacle in one embodiment;
FIG. 7 is a flowchart illustrating a step of calculating second size information of a target obstacle according to an embodiment;
FIG. 8 is a schematic diagram of the length of a target obstacle in one embodiment when there is no track data re-entering the lane occupied by the target obstacle and the maximum distance from the start of the lane occupied by the target obstacle to the stop line is greater than or equal to a preset length threshold;
FIG. 9 is a schematic diagram of the length of a target obstacle in one embodiment when there is no track data re-entering the target obstacle-occupying lane and the maximum distance from the start of the target obstacle-occupying lane to the stop line is less than a preset length threshold;
FIG. 10 is a block diagram showing the construction of an obstacle geometry information determination device in one embodiment;
FIG. 11 is an internal block diagram of a computer device in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
In one embodiment, as shown in fig. 1, a method for determining geometric information of an obstacle is provided, and this embodiment is applied to a terminal for illustration by using the method, it is understood that the method may also be applied to a server, and may also be applied to a system including the terminal and the server, and implemented through interaction between the terminal and the server. The terminal can be, but not limited to, various personal computers, notebook computers, smart phones, tablet computers, internet of things equipment and portable wearable equipment, and the internet of things equipment can be smart speakers, smart televisions, smart air conditioners, smart vehicle-mounted equipment and the like. The portable wearable device may be a smart watch, smart bracelet, headset, or the like. The server may be implemented as a stand-alone server or as a server cluster composed of a plurality of servers. In this embodiment, the method includes the steps of:
Step 101, determining detour track information of the target vehicle based on the vehicle track point information and the vehicle running state information of the target vehicle.
In the embodiment of the present application, the target vehicle is a vehicle on a road. The vehicle track point information is used for representing the vehicle track of the target vehicle, and comprises all vehicle track points of the target vehicle, and can be crowdsourcing track-level precision track data, namely crowdsourcing high-precision track data. The vehicle operating status information is used to indicate the operating status of the target vehicle and may be vehicle operating controller area network (Controller Area Network, CAN) data. The vehicle operation state information includes course angle information, and may also include other vehicle operation state information. The detour track information is used to represent the detour track of the target vehicle, and may be detour track coordinate string data including a detour start point and a detour end point of the vehicle.
The terminal adopts a detour track analysis algorithm to determine detour track information of the target vehicle based on the vehicle track point information and the vehicle running state information of the target vehicle.
In one example, the terminal may determine detour track information of the target vehicle based on the vehicle track point information and the heading angle information of the target vehicle using a detour track analysis algorithm. Specifically, the terminal may determine the heading angle change trend information of the target vehicle based on the heading angle information of the target vehicle. Then, the terminal may determine detour track information of the target vehicle based on the vehicle track point information and the heading angle change trend information of the target vehicle using a detour track analysis algorithm.
In one example, a terminal acquires vehicle track point information and vehicle running state information of a target vehicle in real time. Then, the terminal respectively preprocesses the vehicle track point information and the vehicle running state information of the target vehicle to obtain the processed vehicle track point information and the processed vehicle running state information of the target vehicle. Then, the terminal determines detour track information of the target vehicle based on the processed vehicle track point information and the vehicle running state information of the target vehicle. Therefore, the accessed vehicle track point information and the vehicle running state information are preprocessed, the quality reliability of the output result of the subsequent data processing link can be ensured, and the accuracy of determining the geometric information of the obstacle is further improved. Specifically, the terminal sequentially performs abnormal data elimination processing and track data smoothing processing on the vehicle track point information to obtain processed vehicle track point information. And meanwhile, the terminal performs abnormal data elimination processing on the vehicle running state information to obtain the processed vehicle running state information.
Step 102, screening a plurality of detour track information corresponding to the target obstacle based on detour track information, lane information and detour conditions of the same obstacle of each target vehicle.
In the embodiment of the application, the lane information is used for indicating the position and the size of the lane, including the lane position information and the lane size information, and may further include the position information of the lane center line. The terminal may acquire lane information from a high resolution Map (High definition Map, HD Map). High resolution maps are typically better than 1m in absolute accuracy. The detour condition of the same obstacle is used to determine whether or not a plurality of target vehicles detour at the same obstacle that obstructs traffic. The target obstacle is the same obstacle that hinders traffic, which is bypassed by a plurality of target vehicles.
In one example, the terminal matches the detour track information of each target vehicle with the lane information in the static HD map, and obtains the detour track information of each target vehicle after matching. Then, the terminal screens a plurality of detour track information corresponding to the target obstacle based on the detour track information of each target vehicle after matching and the detour condition of the same obstacle. The detour track information of each matched target vehicle comprises a detour starting point, a detour ending point and detour time. In this way, matching the detour track information of each target vehicle with the lane information in the static HD map can prepare for the subsequent processing.
Step 103, determining the occupied lane direction and the size information of the target obstacle based on the multiple detour track information and the lane information corresponding to the target obstacle.
In the embodiment of the present application, the occupied lane direction is generally a lane driving direction or a driving direction of a vehicle on a lane. The target obstacle may be a regular-shape obstacle or an irregular-shape obstacle. The size information is used to represent the size of the target obstacle. For example, the target obstacle is rectangular, and the size information is length and width; the target obstacle is a circle, and the size information is a radius or a diameter; the target obstacle is an irregularly shaped obstacle, and the size information may be profile information of the target obstacle.
The terminal takes the driving directions of the plurality of detour track information corresponding to the target obstacle as the lane occupation direction of the target obstacle. Then, the terminal determines size information of the target obstacle based on the plurality of detour trajectory information and the lane information corresponding to the target obstacle.
Step 104, taking the lane occupation direction of the target obstacle as the geometric generation direction of the target obstacle, and generating the geometric information of the target obstacle based on the geometric generation direction and the size information.
In the present embodiment, the geometric information is used to represent the geometric shape and outline of the obstacle on the lane. The terminal may generate a geometric polygon of the target obstacle along the geometric generation direction according to the size information on the basis of the HD map data, to obtain geometric information of the target obstacle. For example, the terminal may generate a rectangle of the target obstacle in the geometric generation direction according to the size information on the basis of the HD map data, to obtain the geometric information of the target obstacle.
In the geometric information determining method of the obstacle, the detour track information of the target vehicle is determined based on the vehicle track point information and the vehicle running state information of the target vehicle; screening a plurality of detour track information corresponding to the target obstacle based on detour track information, lane information and detour conditions of the same obstacle of each target vehicle; determining the occupied lane direction and the size information of the target obstacle based on the multiple detour track information and the lane information corresponding to the target obstacle; taking the lane occupation direction of the target obstacle as the geometric generation direction of the target obstacle, and generating the geometric information of the target obstacle based on the geometric generation direction and the size information. Therefore, the geometric information of the traffic barrier at the lane level can be automatically generated only based on the vehicle track point information and the vehicle running state information, no manual intervention is needed, the time consumption is short, the efficiency of determining the geometric information of the barrier can be improved, and the requirements of the lane level precision and the minute level updating frequency of the traffic barrier in the high-precision dynamic map can be met. In addition, the method can realize the full-flow automation of the geometric information determination of the obstacle, and further realize the full-flow automation of the traffic obstacle data generation. In addition, the method does not need to acquire the picture or video data of the traffic barrier with high resolution, has low requirement on a data source, does not need to perform three-dimensional reconstruction and camera internal and external parameter calibration, and has low implementation difficulty and low cost.
In one embodiment, the vehicle running state information includes course angle information, turn light information, steering wheel angle information, and steering wheel angle speed information, and the specific process of determining detour track information of the target vehicle based on the vehicle track point information and the vehicle running state information of the target vehicle includes the steps of: and inputting the vehicle track point information, the course angle information, the steering lamp information, the steering wheel corner information and the steering wheel corner speed information of the target vehicle into a pre-trained detour track analysis model to obtain detour track information of the target vehicle.
In the embodiment of the application, the vehicle running state information includes course angle information and other vehicle running state information. Other vehicle operating state information includes: turn signal information, steering wheel angle information, and steering wheel angle speed information. The detour trajectory analysis model is a model based on a detour trajectory analysis algorithm for mining a detour trajectory or for determining whether a vehicle trajectory of a target vehicle is a detour trajectory.
In the geometric information determining method of the obstacle, vehicle track point information, course angle information, steering lamp information, steering wheel corner information and steering wheel corner speed information of the target vehicle are input into a pre-trained detour track analysis model to obtain detour track information of the target vehicle. Therefore, the detour track of the target vehicle is determined by adopting a detour track analysis algorithm, so that the accuracy of the detour track can be improved, and the accuracy of the geometric information determination of the obstacle is further improved; the method and the device have the advantages that whether the input track data is a detour track is determined based on the change trend of the track points and the course angles of the vehicles and also by referring to the information such as the information of the running steering lamps of the vehicles, the steering wheel angle and the steering wheel angle speed, and the like, and the accuracy of detour track can be further improved due to more comprehensive consideration, so that the accuracy of geometric information determination of the obstacle is further improved.
In one embodiment, as shown in fig. 2, the detour conditions of the same obstacle include a space sub-condition, a time sub-condition and a number sub-condition, and the specific process of screening a plurality of detour track information corresponding to the target obstacle based on the detour track information, lane information and the detour conditions of the same obstacle includes the following steps:
step 201, screening a plurality of space detour track information corresponding to the target obstacle meeting the space sub-condition based on detour track information of each target vehicle and lane information.
In the embodiment of the application, the space sub-condition is used for judging whether the plurality of detour tracks spatially accord with the object obstacle detour. The detour track information includes a detour start point, a detour end point, and a detour time.
And determining a geometric line segment along the driving direction of the lane between a detour starting point and a detour ending point of the detour track information by the terminal according to the detour track information of each target vehicle under the condition that the detour ending point exists, and obtaining the geometric line segment corresponding to the detour track information. And under the condition that no detour terminal exists, the terminal starts from the detour starting point of the detour track information, and generates a geometric line segment with the length of a preset length along the driving direction of the lane, so as to obtain the geometric line segment corresponding to the detour track information. Then, the terminal judges whether the geometric line segments corresponding to the detour track information are overlapped in space. Then, the terminal uses a plurality of pieces of detour track information of which the geometric line segments are overlapped in space as a plurality of pieces of spatial detour track information corresponding to the same obstacle. Meanwhile, the terminal takes the same obstacle as a target obstacle. Wherein, the preset length can be 20m.
In one embodiment, in the case of the detour end point, the terminal determines a geometric line segment along the driving direction of the lane between the detour start point and the detour end point of the detour track information, and obtains a geometric line segment corresponding to the detour track information, such as L shown in fig. 3 1 And L 2 . Under the condition that no detour terminal point exists, the terminal starts from the detour starting point of the detour track information, generates a geometric line segment with the length of 20m along the driving direction of the lane, and obtains the geometric line corresponding to the detour track informationSegments, L as shown in FIG. 3 3 And L 4 . The terminal then spatially generates a plurality of overlapping detour trace information for the geometric line segment, such as L shown in FIG. 3 1 、L 2 And L 3 As a plurality of pieces of space detour trajectory information corresponding to the same obstacle. If there is no overlap in space between the geometric segments of the detour track, the terminal determines that the detour track is not detour at the same location, L as shown in FIG. 3 3 And L 4 。
Step 202, screening a plurality of time detour track information corresponding to the target obstacle meeting the time sub-condition from the plurality of space detour track information based on the plurality of space detour track information and the straight-going track information of the vehicle.
In the embodiment of the present application, the time sub-condition is used to determine whether the multiple detour tracks temporally conform to the situation that there is a target obstacle that needs to be detoured.
And the terminal sequences the plurality of space detour track information and the straight-going track information of the vehicle at the target obstacle according to the time sequence to obtain a track sequence. Then, the terminal only uses each piece of space track information arranged after the last piece of straight track information in the track sequence as a plurality of pieces of time detour track information corresponding to the target obstacle meeting the time sub-condition. For example, 1,2,3, … and N detour track information sequentially appear at a certain target obstacle, and if only one piece of straight-going track information exists between the 2 nd and 3 rd detour track information, the terminal will correspond to the 3 rd to nth detour track information as a plurality of time detour track information corresponding to the target obstacle satisfying the time sub-condition.
In step 203, the track number of the plurality of time detour track information is counted, and if the track number meets the number sub-condition, the plurality of time detour track information is used as a plurality of detour track information corresponding to the target obstacle.
In the embodiment of the present application, if the number of tracks is greater than or equal to the preset number threshold, the terminal determines that the number of tracks meets the number sub-condition. The number sub-condition is used for judging whether the plurality of detour tracks quantitatively meet the condition that the target obstacle needing to be detour exists currently. The number threshold may be set and adjusted as the case may be. Therefore, the detour tracks are required to meet a certain number of requirements, misjudgment caused by the accidental detour of a single or a small number of vehicle tracks can be eliminated, and the accuracy of determining the target obstacle is improved.
In the method for determining geometric information of the obstacle, based on detour track information and lane information of each target vehicle, screening a plurality of pieces of space detour track information corresponding to the target obstacle meeting the space sub-condition; screening a plurality of time detour track information corresponding to the target obstacle meeting the time sub-condition in the plurality of space detour track information based on the plurality of space detour track information and the straight-going track information of the vehicle; and counting the track number of the plurality of pieces of time detour track information, and taking the plurality of pieces of time detour track information as a plurality of pieces of detour track information corresponding to the target obstacle if the track number meets the number sub-condition. Therefore, from the aspects of space, time and quantity, whether the detour track accords with the current situation of the target obstacle needing to be detour is comprehensively judged, the actual situation is more comprehensively met, the accuracy of the information of the detour track of the target obstacle and the target obstacle can be improved, and the accuracy of the geometric information determination of the obstacle is further improved.
In one embodiment, as shown in fig. 4, the lane information includes a lane width, the size information includes a first size information and a second size information, and the specific process of determining the occupied lane direction and size information of the target obstacle based on the plurality of detour track information and the lane information corresponding to the target obstacle includes the following steps:
Step 401, taking the driving directions of the plurality of detour track information corresponding to the target obstacle as the lane occupation direction of the target obstacle.
In the embodiment of the present application, for example, the target obstacle is rectangular, or the target obstacle is regarded as rectangular, the first size information is width, and the second size information is length; the target obstacle is an ellipse, or the target obstacle is regarded as an ellipse, the first size information is a short axis, and the second size information is a long axis.
Step 402, determining the minimum width of the detour tracks corresponding to the target obstacle in the vertical direction of the lane, the information of reentering the lane occupied by the target obstacle, and the maximum distance from the start point to the stop line of the lane occupied by the target obstacle based on the detour track information corresponding to the target obstacle.
In the embodiment of the application, the terminal determines widths of a plurality of detour tracks in the vertical direction of the lane based on a plurality of detour track information corresponding to the target obstacle. Then, the terminal compares widths of the plurality of detour tracks in the lane vertical direction, and determines a minimum width of the plurality of detour tracks corresponding to the target obstacle in the lane vertical direction. Then, the terminal determines information that the plurality of detour tracks corresponding to the target obstacle reenter the lane occupied by the target obstacle based on the plurality of detour track information corresponding to the target obstacle. Then, the terminal determines distances from the start point to the stop line of the lane occupied by the target obstacle, of the plurality of detour trajectories corresponding to the target obstacle, based on the plurality of detour trajectory information corresponding to the target obstacle. Specifically, the terminal may take the start point of the detour trajectory as the start point of the lane occupied by the target obstacle. Then, the terminal compares the distance from the starting point of the lane occupied by the target obstacle to the stop line, and determines the maximum distance from the starting point of the lane occupied by the target obstacle to the stop line of a plurality of detour tracks corresponding to the target obstacle.
The lane vertical direction is vertical to the lane driving direction. The lane traveling direction is the direction in which the vehicle travels on the lane; the lane perpendicular direction is a direction perpendicular to a direction in which the vehicle travels on the lane. When the lane is a horizontal straight lane, the lane driving direction is a horizontal direction, and the lane vertical direction is a vertical direction. The information of the reentry target obstacle occupation lane may be used to indicate whether the target vehicle reenters the target obstacle occupation lane, and may also be used to indicate the position of the reentry target obstacle occupation lane. The stop line is a lane stop line.
Step 403, calculating first size information of the target obstacle based on the minimum width and the lane width.
In one example, the terminal compares the minimum width to the lane width. If the minimum width is less than or equal to the lane width, the terminal takes the lane width as the first size information of the target obstacle. If the minimum width is greater than the lane width, the terminal takes the minimum width as the first size information of the target obstacle.
In one example, if the minimum width is less than or equal to the lane width, the terminal takes the lane width as the first size information of the target obstacle. If the minimum width is greater than the lane width, the terminal calculates first size information of the target obstacle based on the minimum width and the lane width.
Step 404, calculating second size information of the target obstacle based on the information of re-entering the target obstacle occupying lane and the maximum distance from the start point to the stop line of the target obstacle occupying lane.
In one example, if the information of the reentry target obstacle occupation lane indicates that there is track data of the reentry target obstacle occupation lane, the minimum distance of the reentry target obstacle occupation lane in the lane traveling direction of the plurality of detour tracks corresponding to the target obstacle is taken as the second size information of the target obstacle. If the information of the reentry target obstacle occupation lane indicates that the track data of the reentry target obstacle occupation lane does not exist, the terminal takes the maximum distance from the starting point of the target obstacle occupation lane to the stop line as the second size information of the target obstacle.
In the method for determining geometric information of the obstacle, driving directions of a plurality of detour track information corresponding to the target obstacle are taken as the occupied lane direction of the target obstacle; determining the minimum width of a plurality of detour tracks corresponding to the target obstacle in the vertical direction of the lane, information of reentering the lane occupied by the target obstacle and the maximum distance from the starting point of the lane occupied by the target obstacle to the stop line based on the plurality of detour track information corresponding to the target obstacle; calculating first size information of the target obstacle based on the minimum width and the lane width; second size information of the target obstacle is calculated based on information of reentering the target obstacle occupying lane and a maximum distance from a start point to a stop line of the target obstacle occupying lane. In this way, the target obstacle on the lane is regarded as a regular geometric polygon mainly composed of the first size information and the second size information, so that the method is more in line with the actual situation that the vehicle bypasses when the traffic obstacle exists on the lane, namely the obstacle is too specific geometric information has little influence on the local path planning of the vehicle, and the efficiency of geometric information determination of the obstacle is further improved under the condition that the accuracy of geometric information determination of the obstacle is ensured.
In one embodiment, as shown in fig. 5, the specific process of calculating the first size information of the target obstacle based on the minimum width and the lane width includes the steps of:
in step 501, in the case where the minimum width is less than or equal to the lane width, the lane width is taken as the first size information of the target obstacle.
Step 502, determining a target multiple based on the ratio of the minimum width to the lane width in the case that the minimum width is larger than the lane width.
In the embodiment of the application, in the case that the minimum width is larger than the lane width, the terminal calculates the ratio of the minimum width to the lane width. Then, the terminal rounds up the ratio in a rounding manner to obtain a target multiple.
Step 503, multiplying the target multiple by the lane width to obtain the first size information of the target obstacle.
In one embodiment, the terminal calculates first size information of the target obstacle based on the minimum width and the lane width, which may be expressed as:
d=d, when l+.d;
d=round (L/D) ×d, when L > D;
wherein D is first size information, D is the width of the lane where the traffic barrier is located, L is the minimum width of the vehicle detouring in the vertical lane direction, and Round is a rounding function. For example, as shown in fig. 6, the minimum width L of the plurality of detouring trajectories corresponding to the target obstacle in the lane vertical direction is smaller than the lane width d, and the terminal takes the lane width as the width of the target obstacle, i.e., the first size information.
In the above-described geometric information determination method of an obstacle, in a case where the minimum width is less than or equal to the lane width, the lane width is taken as the first size information of the target obstacle; determining a target multiple based on a ratio of the minimum width to the lane width when the minimum width is greater than the lane width; multiplying the target multiple by the lane width to obtain first size information of the target obstacle. Therefore, the first size information of the target obstacle is determined by taking the lane as the unit width, so that the actual situation that the vehicle bypasses to mainly switch lanes when the traffic obstacle exists on the lane is more met, and the accuracy of local path planning can be improved.
In one embodiment, as shown in fig. 7, the specific process of calculating the second size information of the target obstacle based on the information of reentering the target obstacle occupying lane and the maximum distance from the start point of the target obstacle occupying lane to the stop line includes the steps of:
in step 701, if the information of the reentry target obstacle occupation lane indicates that there is no track data of the reentry target obstacle occupation lane and the maximum distance from the start point of the target obstacle occupation lane to the stop line is greater than or equal to the preset length threshold, the length threshold is used as the second size information of the target obstacle.
In the embodiment of the present application, the situation that there is no track data of the lane occupied by the target obstacle is that the target obstacle is too long, or each target vehicle making a detour does not want to frequently switch lanes. The length threshold may be a length threshold of the obstacle, for example, a length threshold of 20m.
In one embodiment, as shown in fig. 8, if the information of the reentry target obstacle occupation lane indicates that there is no track data of the reentry target obstacle occupation lane and the maximum distance from the start point of the target obstacle occupation lane to the stop line is greater than or equal to a preset length threshold value 20m, the terminal takes the length threshold value 20m as the length of the target obstacle, that is, the second size information.
In step 702, if the information of the reentry target obstacle occupation lane indicates that there is no track data of the reentry target obstacle occupation lane and the maximum distance from the start point of the target obstacle occupation lane to the stop line is smaller than the preset length threshold, the maximum distance from the start point of the target obstacle occupation lane to the stop line is taken as the second size information of the target obstacle.
In one embodiment, as shown in fig. 9, if the information of the reentry target obstacle occupation lane indicates that there is no track data of the reentry target obstacle occupation lane and the maximum distance from the start point of the target obstacle occupation lane to the stop line is less than the preset length threshold value of 20m, the terminal will use the maximum distance from the start point of the target obstacle occupation lane to the stop line, that is, the actual length of 16m, as the length of the target obstacle, that is, the second size information.
In step 703, if the information of the reentry target obstacle occupying lane indicates that there is track data of the reentry target obstacle occupying lane, the minimum distance of the reentry target obstacle occupying lane in the driving direction of the lane is set as the second size information of the target obstacle according to the plurality of detouring tracks corresponding to the target obstacle.
In the above method for determining geometric information of an obstacle, if the information of the reentry target obstacle occupation lane indicates that there is no track data of the reentry target obstacle occupation lane and the maximum distance from the start point of the target obstacle occupation lane to the stop line is greater than or equal to a preset length threshold, the length threshold is taken as the second size information of the target obstacle; if the information of the reentry target obstacle occupation lane indicates that track data of the reentry target obstacle occupation lane does not exist and the maximum distance from the starting point of the target obstacle occupation lane to the stop line is smaller than the preset length threshold value, taking the maximum distance from the starting point of the target obstacle occupation lane to the stop line as second size information of the target obstacle; and if the information of the reentry target obstacle occupation lane indicates that track data of the reentry target obstacle occupation lane exists, reentry the minimum distance of the plurality of detour tracks corresponding to the target obstacle in the lane driving direction of the reentry target obstacle occupation lane is used as second size information of the target obstacle. Therefore, various possible situations are considered, and the second size information of the target obstacle is determined in different manners under different situations, so that the method is more in line with the actual situation of vehicle detouring when the traffic obstacle exists on the lane, and the accuracy of local path planning can be improved.
It should be understood that, although the steps in the flowcharts related to the embodiments described above are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or stages.
Based on the same inventive concept, the embodiments of the present application also provide an obstacle geometry information determination device for implementing the above-mentioned obstacle geometry information determination method. The implementation of the solution provided by the device is similar to the implementation described in the above method, so the specific limitation in the embodiments of the device for determining geometric information of one or more obstacles provided below may refer to the limitation of the method for determining geometric information of an obstacle in the above description, and will not be repeated here.
In an exemplary embodiment, as shown in fig. 10, there is provided a geometric information determining apparatus 1000 of an obstacle, including: a first determination module 1010, a screening module 1020, a second determination module 1030, and a generation module 1040, wherein:
a first determining module 1010, configured to determine detour track information of a target vehicle based on vehicle track point information and vehicle running state information of the target vehicle;
a screening module 1020, configured to screen a plurality of detour track information corresponding to the target obstacle based on detour track information, lane information, and detour conditions of the same obstacle for each of the target vehicles;
a second determining module 1030, configured to determine an occupied lane direction and size information of the target obstacle based on the plurality of detour track information and the lane information corresponding to the target obstacle;
a generating module 1040, configured to take a lane occupation direction of the target obstacle as a geometric generating direction of the target obstacle, and generate geometric information of the target obstacle based on the geometric generating direction and the size information.
Optionally, the vehicle running state information includes heading angle information, turn light information, steering wheel angle information and steering wheel angle speed information, and the first determining module 1010 is specifically configured to:
And inputting the vehicle track point information, the course angle information, the steering lamp information, the steering wheel corner information and the steering wheel corner speed information of the target vehicle into a pre-trained detour track analysis model to obtain detour track information of the target vehicle.
Optionally, the bypassing condition of the same obstacle includes a space sub-condition, a time sub-condition and a number sub-condition, and the screening module 1020 is specifically configured to:
screening a plurality of space detour track information corresponding to the target obstacle meeting the space sub-condition based on detour track information of each target vehicle and lane information;
screening a plurality of time detour track information corresponding to the target obstacle meeting the time sub-condition from the plurality of space detour track information based on the plurality of space detour track information and the straight-going track information of the vehicle;
and counting the track number of the plurality of pieces of time detour track information, and taking the plurality of pieces of time detour track information as a plurality of pieces of detour track information corresponding to the target obstacle if the track number meets the number sub-condition.
Optionally, the lane information includes a lane width, the size information includes first size information and second size information, and the second determining module 1030 is specifically configured to:
Taking the driving directions of the plurality of detour track information corresponding to the target obstacle as the lane occupation direction of the target obstacle;
determining the minimum width of a plurality of detour tracks corresponding to the target obstacle in the vertical direction of the lane, information of reentering the lane occupied by the target obstacle and the maximum distance from the starting point of the lane occupied by the target obstacle to the stop line based on the plurality of detour track information corresponding to the target obstacle;
calculating first size information of the target obstacle based on the minimum width and the lane width;
and calculating second size information of the target obstacle based on the information of reentering the target obstacle occupying lane and the maximum distance from the starting point to the stop line of the target obstacle occupying lane.
Optionally, the second determining module 1030 is specifically configured to:
taking the lane width as first size information of the target obstacle in a case where the minimum width is less than or equal to the lane width;
determining a target multiple based on a ratio of the minimum width to the lane width if the minimum width is greater than the lane width;
Multiplying the target multiple by the lane width to obtain first size information of the target obstacle.
Optionally, the second determining module 1030 is specifically configured to:
if the information of reentering the target obstacle occupation lane indicates that track data of reentering the target obstacle occupation lane does not exist and the maximum distance from the starting point of the target obstacle occupation lane to the stop line is greater than or equal to a preset length threshold, taking the length threshold as second size information of the target obstacle;
if the information of reentering the target obstacle occupation lane indicates that track data of reentering the target obstacle occupation lane does not exist and the maximum distance from the starting point of the target obstacle occupation lane to the stop line is smaller than a preset length threshold value, taking the maximum distance from the starting point of the target obstacle occupation lane to the stop line as second size information of the target obstacle;
and if the information of reentering the target obstacle occupation lane indicates that track data of reentering the target obstacle occupation lane exists, reentering a plurality of detour tracks corresponding to the target obstacle into the minimum distance of the target obstacle occupation lane in the lane driving direction as second size information of the target obstacle.
The respective modules in the above-described obstacle geometry information determination device may be implemented in whole or in part by software, hardware, and a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In an exemplary embodiment, a computer device, which may be a terminal, is provided, and an internal structure thereof may be as shown in fig. 11. The computer device includes a processor, a memory, an input/output interface, a communication interface, a display unit, and an input means. The processor, the memory and the input/output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input/output interface. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input/output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless mode can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. The computer program, when executed by a processor, implements a method for determining geometrical information of an obstacle. The display unit of the computer device is used for forming a visual picture, and can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, can also be a key, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.
It will be appreciated by those skilled in the art that the structure shown in fig. 11 is merely a block diagram of a portion of the structure associated with the present application and is not limiting of the computer device to which the present application applies, and that a particular computer device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.
In an exemplary embodiment, a computer device is provided, comprising a memory and a processor, the memory having stored therein a computer program, the processor performing the steps of the method embodiments described above when the computer program is executed.
In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when executed by a processor, implements the steps of the method embodiments described above.
In an embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the steps of the method embodiments described above.
It should be noted that, the user information (including, but not limited to, user equipment information, user personal information, etc.) and the data (including, but not limited to, data for analysis, stored data, presented data, etc.) referred to in the present application are information and data authorized by the user or sufficiently authorized by each party, and the collection, use, and processing of the related data are required to meet the related regulations.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, database, or other medium used in the various embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high density embedded nonvolatile Memory, resistive random access Memory (ReRAM), magnetic random access Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (Phase Change Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), and the like. The databases referred to in the various embodiments provided herein may include at least one of relational databases and non-relational databases. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processors referred to in the embodiments provided herein may be general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic units, quantum computing-based data processing logic units, etc., without being limited thereto.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples only represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the present application. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application shall be subject to the appended claims.
Claims (10)
1. A method for determining geometric information of an obstacle, the method comprising:
determining detour track information of a target vehicle based on vehicle track point information and vehicle running state information of the target vehicle;
screening a plurality of detour track information corresponding to the target obstacle based on detour track information, lane information and detour conditions of the same obstacle of each target vehicle;
Determining the occupied lane direction and size information of the target obstacle based on the plurality of detour track information and the lane information corresponding to the target obstacle;
taking the lane occupation direction of the target obstacle as the geometric generation direction of the target obstacle, and generating geometric information of the target obstacle based on the geometric generation direction and the size information.
2. The method of claim 1, wherein the vehicle operational status information includes heading angle information, turn light information, steering wheel angle information, and steering wheel angle speed information, and wherein determining detour track information for the target vehicle based on vehicle track point information and vehicle operational status information of the target vehicle comprises:
and inputting the vehicle track point information, the course angle information, the steering lamp information, the steering wheel corner information and the steering wheel corner speed information of the target vehicle into a pre-trained detour track analysis model to obtain detour track information of the target vehicle.
3. The method according to claim 1, wherein the detour condition of the same obstacle includes a space sub-condition, a time sub-condition, and a number of sub-conditions, and the screening a plurality of detour track information corresponding to the target obstacle based on detour track information, lane information, and detour condition of the same obstacle includes:
Screening a plurality of space detour track information corresponding to the target obstacle meeting the space sub-condition based on detour track information of each target vehicle and lane information;
screening a plurality of time detour track information corresponding to the target obstacle meeting the time sub-condition from the plurality of space detour track information based on the plurality of space detour track information and the straight-going track information of the vehicle;
and counting the track number of the plurality of pieces of time detour track information, and taking the plurality of pieces of time detour track information as a plurality of pieces of detour track information corresponding to the target obstacle if the track number meets the number sub-condition.
4. The method of claim 1, wherein the lane information comprises a lane width, the size information comprises first size information and second size information, the determining the lane direction and size information occupied by the target obstacle based on the plurality of detour trajectory information and the lane information corresponding to the target obstacle comprises:
taking the driving directions of the plurality of detour track information corresponding to the target obstacle as the lane occupation direction of the target obstacle;
Determining the minimum width of a plurality of detour tracks corresponding to the target obstacle in the vertical direction of the lane, information of reentering the lane occupied by the target obstacle and the maximum distance from the starting point of the lane occupied by the target obstacle to the stop line based on the plurality of detour track information corresponding to the target obstacle;
calculating first size information of the target obstacle based on the minimum width and the lane width;
and calculating second size information of the target obstacle based on the information of reentering the target obstacle occupying lane and the maximum distance from the starting point to the stop line of the target obstacle occupying lane.
5. The method of claim 4, wherein the calculating first size information of the target obstacle based on the minimum width and the lane width comprises:
taking the lane width as first size information of the target obstacle in a case where the minimum width is less than or equal to the lane width;
determining a target multiple based on a ratio of the minimum width to the lane width if the minimum width is greater than the lane width;
Multiplying the target multiple by the lane width to obtain first size information of the target obstacle.
6. The method of claim 4, wherein the calculating the second size information of the target obstacle based on the information of reentering the target obstacle occupying lane and a maximum distance from a start point to a stop line of the target obstacle occupying lane comprises:
if the information of reentering the target obstacle occupation lane indicates that track data of reentering the target obstacle occupation lane does not exist and the maximum distance from the starting point of the target obstacle occupation lane to the stop line is greater than or equal to a preset length threshold, taking the length threshold as second size information of the target obstacle;
if the information of reentering the target obstacle occupation lane indicates that track data of reentering the target obstacle occupation lane does not exist and the maximum distance from the starting point of the target obstacle occupation lane to the stop line is smaller than a preset length threshold value, taking the maximum distance from the starting point of the target obstacle occupation lane to the stop line as second size information of the target obstacle;
And if the information of reentering the target obstacle occupation lane indicates that track data of reentering the target obstacle occupation lane exists, reentering a plurality of detour tracks corresponding to the target obstacle into the minimum distance of the target obstacle occupation lane in the lane driving direction as second size information of the target obstacle.
7. A geometric information determination device of an obstacle, characterized in that the device comprises:
the first determining module is used for determining the detour track information of the target vehicle based on the vehicle track point information and the vehicle running state information of the target vehicle;
the screening module is used for screening a plurality of detour track information corresponding to the target obstacle based on detour track information, lane information and detour conditions of the same obstacle of each target vehicle;
a second determining module, configured to determine an occupied lane direction and size information of the target obstacle based on the plurality of detour track information and the lane information corresponding to the target obstacle;
the generating module is used for taking the lane occupation direction of the target obstacle as the geometric generating direction of the target obstacle and generating the geometric information of the target obstacle based on the geometric generating direction and the size information.
8. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1 to 6 when the computer program is executed.
9. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 6.
10. A computer program product comprising a computer program, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 6.
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