CN117864151A

CN117864151A - Transverse speed direction determining method and device, storage medium and electronic equipment

Info

Publication number: CN117864151A
Application number: CN202410151729.2A
Authority: CN
Inventors: 徐志鹏; 汪振; 申忱
Original assignee: Zhejiang Geely Holding Group Co Ltd; Zhejiang Zeekr Intelligent Technology Co Ltd
Current assignee: Zhejiang Geely Holding Group Co Ltd; Zhejiang Zeekr Intelligent Technology Co Ltd
Priority date: 2024-02-02
Filing date: 2024-02-02
Publication date: 2024-04-12

Abstract

The disclosure provides a method and a device for determining a transverse velocity direction, a storage medium and electronic equipment, wherein the method comprises the following steps: and when the target vehicle is determined to run within the preset distance threshold in front of the current vehicle, the perception fusion data acquired by the first module is determined to be the transverse movement track data of the target vehicle, and the first module is a data processing module developed for the current vehicle. And when the target vehicle is determined to run beyond the preset distance threshold in front of the current vehicle, the perception fusion data acquired by the second module are determined to be the transverse movement track data of the target vehicle, and the second module is a data processing module provided by a third-party provider. And determining the transverse speed direction of the target vehicle according to the transverse movement track data. The method can solve the problem that the transverse speed direction of the target vehicle running in front of the current vehicle cannot be determined when the J3 distance method provided by the third party provider is adopted in the related technical scheme, and has high practicability.

Description

Transverse speed direction determining method and device, storage medium and electronic equipment

Technical Field

The technical scheme of the disclosure relates to the technical field of automatic driving, in particular to a method and a device for determining a transverse speed direction, a storage medium and electronic equipment.

Background

In an automatic driving scenario, a vehicle often needs to determine the lane change intention of a target vehicle as an obstacle, i.e. which lane the target vehicle will select in the future to drive, and the key to determining the lane change intention of the target vehicle is to determine the lateral speed direction of the target vehicle.

In the related technical scheme, the vehicle determines the transverse moving track of the target vehicle by adopting a J3 distance method provided by a third party provider, so as to determine the transverse speed direction of the target vehicle.

Since the J3 data is only produced when the target vehicle is traveling 5 meters ahead of the current vehicle, the J3 data cannot be produced when the target vehicle is traveling within 5 meters ahead of the current vehicle, and the lateral speed direction of the target vehicle cannot be determined based on the method.

Disclosure of Invention

In view of this, embodiments of the present disclosure provide a method and apparatus for determining a lateral velocity direction, a storage medium, and an electronic device.

According to a first aspect of the present disclosure, a method of determining a lateral velocity direction is presented, the method comprising:

When the target vehicle is determined to run within a preset distance threshold in front of the current vehicle, the perception fusion data acquired by the first module are determined to be transverse movement track data of the target vehicle; the first module is a data processing module developed for the current vehicle;

when the target vehicle is determined to run outside the preset distance threshold in front of the current vehicle, the perception fusion data acquired by the second module are determined to be the transverse movement track data of the target vehicle; the second module is a data processing module provided by a third party provider;

and determining the transverse speed direction of the target vehicle according to the transverse movement track data.

In combination with any one of the embodiments provided in the present disclosure, the perceptual fusion data acquired by the first module includes at least one of:

first transverse movement track data obtained according to the change of the distance between the target vehicle and the left boundary line of the lane where the target vehicle is located;

second transverse movement track data obtained according to the change of the distance between the target vehicle and the right boundary line of the lane where the target vehicle is located;

and third transverse movement track data obtained according to the distance change between the target vehicle and the central line of the lane where the target vehicle is located.

In combination with any one of the embodiments provided in the present disclosure, the determining, according to the lateral movement track data, a lateral speed direction of the target vehicle includes any one of the following:

determining a lateral speed direction of the target vehicle according to the first lateral movement track data in response to determining that the target vehicle is traveling in a lane to the right of the lane in which the current vehicle is traveling;

determining a lateral speed direction of the target vehicle according to the second lateral movement track data in response to determining that the target vehicle is traveling in a lane on the left side of the lane in which the current vehicle is traveling;

and in response to determining that the target vehicle is driven in the lane where the current vehicle is located, determining the transverse speed direction of the target vehicle according to the third transverse movement track data.

In combination with any one of the embodiments provided in the present disclosure, before the determining, according to the lateral movement trajectory data, a lateral speed direction of the target vehicle, the method further includes:

performing data preprocessing operation on the transverse movement track data; wherein the data preprocessing operation includes at least one of:

deleting the transverse position data which do not belong to the preset numerical range in the transverse movement track data; the lateral position data is obtained based on the distance between the target vehicle and a lane line;

And deleting repeated transverse position data in the transverse movement track data.

In combination with any one of the embodiments provided in the present disclosure, the determining, according to the lateral movement trajectory data, a lateral speed direction of the target vehicle includes:

and determining the transverse speed direction of the target vehicle according to the transverse movement track data in response to determining that the number of the transverse position data included in the transverse movement track data obtained after the data preprocessing operation is in a preset number range.

In connection with any one of the embodiments provided by the present disclosure, the method further comprises:

and in response to determining that the number of the lateral position data included in the lateral movement track data obtained after the data preprocessing operation is executed is not within the preset number range, projecting the acquired speed data of the target vehicle to a Frenet coordinate system in Frey to calculate the lateral speed direction of the target vehicle.

In combination with any one of the embodiments provided in the present disclosure, the lateral movement track data includes a plurality of sets of data pairs formed by target time point-lateral position data; the lateral position data is obtained based on the distance between the target vehicle and a lane line;

The determining the transverse speed direction of the target vehicle according to the transverse movement track data comprises the following steps:

respectively taking a target time point in each group of data pair as an independent variable and transverse position data as a dependent variable to construct a unitary linear regression equation;

calculating the slope of the unitary linear regression equation based on the constructed multiple unitary linear regression equations;

based on the slope, a lateral speed direction of the target vehicle is determined.

According to a second aspect of the present disclosure, there is provided a lateral velocity direction determining apparatus, the apparatus comprising:

the first data determining module is used for determining the perception fusion data acquired by the first module as the transverse movement track data of the target vehicle when the target vehicle is determined to run in front of the current vehicle within a preset distance threshold; the first module is a data processing module developed for the current vehicle;

the second data determining module is used for determining the perception fusion data acquired by the second module as the transverse movement track data of the target vehicle when the target vehicle is determined to run outside the preset distance threshold in front of the current vehicle; the second module is a data processing module provided by a third party provider;

And the first direction determining module is used for determining the transverse speed direction of the target vehicle according to the transverse movement track data.

According to a third aspect of the present disclosure, there is provided a computer readable storage medium storing machine readable instructions that, when invoked and executed by a processor, cause the processor to implement a lateral velocity direction determination method of any of the embodiments of the present disclosure.

According to a fourth aspect of the present disclosure, there is provided an electronic device comprising

A processor;

a memory for storing processor-executable instructions;

wherein the processor is configured for performing the lateral velocity direction determination method of any of the embodiments of the present disclosure.

The technical scheme provided by the embodiment of the disclosure can comprise the following beneficial effects:

in the method and device for determining the transverse speed direction, the storage medium and the electronic device provided by the embodiment of the disclosure, when the target vehicle is determined to run within the preset distance threshold in front of the current vehicle, the perception fusion data acquired by the first module is determined to be the transverse movement track data of the target vehicle, and the first module is a data processing module developed for the current vehicle. And when the target vehicle is determined to run beyond the preset distance threshold in front of the current vehicle, the perception fusion data acquired by the second module are determined to be the transverse movement track data of the target vehicle, and the second module is a data processing module provided by a third-party provider. And determining the transverse speed direction of the target vehicle according to the transverse movement track data. In the method, when the target vehicle runs within the preset distance threshold in front of the current vehicle, the first module developed for the current vehicle can be used for determining the transverse movement track data of the target vehicle, so that the problem that the transverse speed direction of the target vehicle running within the preset distance threshold in front of the current vehicle cannot be determined when the J3 distance method provided by the third party provider is adopted singly in the related technical scheme is solved, the lane change intention of the target vehicle running in front of the current vehicle can be monitored more comprehensively, and the safety of automatic driving is improved.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure.

FIG. 1 is a flow chart of a lateral velocity direction determination method according to an exemplary embodiment of the present disclosure;

FIG. 2 is a flow chart of another lateral velocity direction determination method illustrated by the present disclosure according to an exemplary embodiment;

FIG. 3 is a schematic diagram of a lateral velocity direction determination apparatus according to an exemplary embodiment of the present disclosure;

fig. 4 is a schematic structural view of an electronic device according to an exemplary embodiment of the present disclosure.

Detailed Description

Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present disclosure as detailed in the accompanying claims.

The terminology used in the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used in this disclosure and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.

It should be understood that although the terms first, second, third, etc. may be used in this disclosure to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present disclosure. The word "if" as used herein may be interpreted as "at … …" or "at … …" or "responsive to a determination", depending on the context.

In an automatic driving scenario, an automatic driving vehicle often needs to determine the lane change intention of a target vehicle as an obstacle, i.e. which lane the target vehicle will select to drive in the future, and the key to determining the lane change intention of the target vehicle is to determine the lateral speed direction of the target vehicle.

Whereas J3 data is only produced when the target vehicle is traveling 5 meters ahead of the current vehicle, J3 data cannot be produced when the target vehicle is traveling within 5 meters ahead of the current vehicle, and the lateral speed direction of the target vehicle cannot be determined based on the method.

In view of this, an embodiment of the present disclosure provides a method for determining a lateral velocity direction, and the method for determining a lateral velocity direction provided by the embodiment of the present disclosure is described in detail below with reference to the accompanying drawings.

Fig. 1 is a flowchart of a lateral speed direction determination method that may be performed by a current vehicle, according to an exemplary embodiment of the present disclosure. As shown in fig. 1, the exemplary embodiment method may include the steps of:

in step 101, when it is determined that the target vehicle is traveling within the preset distance threshold in front of the current vehicle, the perceived fusion data acquired by the first module is determined as the lateral movement trajectory data of the target vehicle.

The preset distance threshold may be, for example, 5 meters. The first module is a data processing module developed for the current vehicle, and the module can process data, which are acquired by equipment such as a camera and a laser radar installed on the current vehicle and are aimed at the target vehicle, so as to obtain corresponding perception fusion data.

In an alternative example, the perceptually fused data acquired by the first module may include at least one of:

and (3) a step of: and the first transverse movement track data is obtained according to the change of the distance between the target vehicle and the left boundary line of the lane where the target vehicle is located.

For clarity of description, the orientations in this example are all set with the head of the target vehicle as the "front". The distance between the target vehicle and the lane line refers to the distance between the center point of the target vehicle and the lane line.

For example, the first lateral movement track data may include a data pair formed by multiple sets of target time points-lateral position data, where the lateral position data is a distance between the target vehicle and a left boundary line of a lane where the target vehicle is located.

And II: and obtaining second transverse movement track data according to the change of the distance between the target vehicle and the right boundary line of the lane where the target vehicle is located.

For example, the second lateral movement track data may also include a data pair formed by multiple sets of target time points-lateral position data, where the lateral position data is the distance between the target vehicle and the right boundary line of the lane where the target vehicle is located.

Thirdly,: and third transverse movement track data obtained according to the distance change between the target vehicle and the central line of the lane where the target vehicle is located.

For example, the third lateral movement track data may also include a data pair formed by multiple sets of target time points-lateral position data, where the lateral position data is the distance between the target vehicle and the center line of the lane where the target vehicle is located.

In this step, when it is determined that the target vehicle is traveling within the preset distance threshold ahead of the current vehicle, the aforementioned at least one item of sensory fusion data may be determined as lateral movement trajectory data of the target vehicle.

In step 102, when it is determined that the target vehicle is traveling beyond the preset distance threshold in front of the current vehicle, the perceived fusion data acquired by the second module is determined as lateral movement trajectory data of the target vehicle.

As before, the preset distance threshold may be 5 meters. The second module is a data processing module provided by a third party provider, and the data processing module can also process data, which are acquired by equipment such as a camera and a laser radar installed on the current vehicle and are aimed at the target vehicle, so as to obtain corresponding perception fusion data.

In practical applications, most of the data processing methods adopted by the second module are J3 distance methods, in which, in the method, it is determined in advance which boundary line of the left boundary line and the right boundary line of the lane where the target vehicle is located is closer to the target vehicle based on the data collected by the camera, the laser radar, and the like, and corresponding fourth lateral movement track data is obtained based on the distance change between the boundary line and the target vehicle, where the fourth lateral movement track data corresponds to the sensing fusion data.

For example, the fourth lateral movement track data may include a data pair formed by multiple sets of target time points-lateral position data, where the lateral position data is a distance between the target vehicle and a closer boundary line of left and right boundary lines of the lane where the target vehicle is located.

It should be noted that, although the first module and the second module both process the data acquired by the devices such as the camera and the laser radar installed on the current vehicle and aimed at the target vehicle to obtain the corresponding perception fusion data, the acquired perception fusion data have different precision due to different data processing methods.

In this example, it is considered that the accuracy of the perceived fusion data acquired by the second module provided by the third-party provider is higher than the accuracy of the perceived fusion data acquired by the first module developed for the current vehicle, and therefore, in this example, when the target vehicle is traveling 5 meters ahead of the current vehicle, the second module can produce data, that is, the perceived fusion data acquired by the second module (the aforementioned fourth lateral movement trajectory data) is determined as the lateral movement trajectory data of the target vehicle.

In step 103, a lateral speed direction of the target vehicle is determined according to the lateral movement trajectory data.

In combination with the foregoing embodiment, since the lateral movement trajectory data of the target vehicle includes the data pairs of the plurality of sets of target time point-lateral position data, the lateral speed direction of the target vehicle may be determined based on the acquired lateral movement trajectory data in the manner of a unitary linear regression equation.

Taking the aforementioned fourth lateral movement track data as an example of the lateral movement track data of the target vehicle, a unitary linear regression equation may be constructed by taking the target time point in each set of data pairs included in the fourth lateral movement track data as an independent variable and the lateral position data as a dependent variable, respectively. And then, calculating the slope of the unitary linear regression equation based on the constructed multiple unitary linear regression equations. The magnitude of the slope may be used to represent the magnitude of the lateral velocity of the target vehicle, and the sign of the slope may be used to represent the lateral velocity direction of the target vehicle.

The manner of determining the first lateral movement track data, the second lateral movement track data, or the third lateral movement track data as the lateral movement track data of the target vehicle, and thus determining the lateral speed direction of the target vehicle is similar to the manner of determining the first lateral movement track data based on the fourth lateral movement track data, which is not described herein, and the detailed description thereof will be omitted.

It should be noted that the foregoing description of the calculation of the lateral velocity direction based on the way of the unitary linear regression equation after the acquisition of the lateral movement trajectory data containing the target point-in-time-lateral position data is merely illustrative, and is intended to enable one skilled in the art to better understand the aspects of the embodiments of the present disclosure. In practical applications, the transverse velocity direction may also be calculated using kalman filtering after acquiring the transverse movement trajectory data containing the target time point-transverse position data. Or after acquiring the lateral movement track data including the target time point-lateral position data, the position change rate (lateral speed) corresponding to each time point may be first obtained, and then smoothing filtering may be performed to obtain the lateral speed direction. The present disclosure is not limited to the manner of determining the lateral velocity direction based on the lateral movement trajectory data including the target time point-lateral position data.

In an alternative example, when determining that the target vehicle is traveling within the preset distance threshold in front of the current vehicle, the lateral speed direction of the target vehicle is determined using the perceptual fusion data acquired by the first module, two alternative methods may be employed:

The method comprises the following steps:

in order to improve the accuracy of determining the lateral speed direction of the target vehicle, after three lateral speed directions are calculated based on the three pieces of perceptual fusion data (the first lateral movement track data, the second lateral movement track data, and the third lateral movement track data), the directions indicated by the plurality of lateral speed directions may be determined as the lateral speed directions of the target vehicle.

For example, two of the three calculated lateral speed directions indicate to the left, and one indicates to the right, and the lateral speed direction of the target vehicle is determined to be to the left.

The second method is as follows:

in order to save calculation resources, after the three pieces of sensing fusion data are acquired, it may be determined which group of sensing fusion data is used to calculate the lateral speed direction of the target vehicle, and then the corresponding data is used to calculate.

The closer to the current vehicle, the more accurate the perceived fusion data is acquired by the current vehicle. Therefore, it is possible to determine the lateral speed direction of the target vehicle based on the aforementioned first lateral movement locus data when it is determined that the target vehicle is located in the lane to the right of the lane in which the current vehicle is located. And when the target vehicle is determined to be positioned on the left lane of the lane where the current vehicle is positioned, determining the transverse speed direction of the target vehicle according to the second transverse movement track data. And when the target vehicle is determined to be positioned in the lane where the current vehicle is positioned, determining the transverse speed direction of the target vehicle according to the third transverse movement track data.

In the method for determining the transverse speed direction provided by the embodiment of the disclosure, when it is determined that the target vehicle runs within the preset distance threshold in front of the current vehicle, the sensing fusion data acquired by the first module is determined to be transverse movement track data of the target vehicle, and the first module is a data processing module developed for the current vehicle. And when the target vehicle is determined to run beyond the preset distance threshold in front of the current vehicle, the perception fusion data acquired by the second module are determined to be the transverse movement track data of the target vehicle, and the second module is a data processing module provided by a third-party provider. And determining the transverse speed direction of the target vehicle according to the transverse movement track data. In the method, when the target vehicle runs within the preset distance threshold in front of the current vehicle, the first module developed for the current vehicle can be used for determining the transverse movement track data of the target vehicle, so that the problem that the transverse speed direction of the target vehicle running within the preset distance threshold in front of the current vehicle cannot be determined when the J3 distance method provided by the third party provider is adopted singly in the related technical scheme is solved, the lane change intention of the target vehicle running in front of the current vehicle can be monitored more comprehensively, and the safety of automatic driving is improved.

Fig. 2 is a flow chart of another lateral velocity direction determination method illustrated by the present disclosure according to an exemplary embodiment. In the description of this embodiment, the same steps as those in any of the foregoing embodiments will be described briefly, and will not be described in detail, and reference may be made to any of the foregoing embodiments specifically. As shown in fig. 2, the exemplary embodiment method may include the steps of:

in step 201, lateral movement trajectory data of a target vehicle is acquired.

Wherein the target vehicle is a vehicle that is an obstacle of a current vehicle. The transverse movement track data comprises a plurality of groups of data pairs formed by target time points and transverse position data, and the transverse position data is obtained based on the distance between the target vehicle and a lane line.

In step 202, a data preprocessing operation is performed on the lateral movement trajectory data.

Wherein the data preprocessing operation includes at least one of:

1. and deleting the transverse position data which do not belong to the preset numerical range in the transverse movement track data.

In practical applications, there may be cases where there is a large error in the acquired lateral position data, for example, the acquired lateral position data is larger than the width of the lane or the like. Thus, in this example, the relevant staff member can set a preset value range based on the actual situation such as the width of the lane. Then, after the lateral movement track data is acquired, data which does not belong to the foregoing preset numerical range, that is, data which is too large or too small, in the lateral position data included in the lateral movement track data may be deleted. Thereby improving the accuracy of the determined transverse position data and further improving the accuracy of the determined transverse speed direction.

2. And deleting repeated transverse position data in the transverse movement track data.

In practical applications, there may be cases where there are repeatedly occurring lateral position data among the acquired lateral position data due to too short a time interval. Thus, in this example, the repeated occurrence of this lateral position data may be deleted, thereby improving the accuracy of the finally determined lateral velocity direction.

In step 203, it is determined whether the number of the lateral position data included in the lateral movement trajectory data obtained after the data preprocessing operation is performed is within a preset number range.

Taking the method of the above-mentioned unitary linear regression equation as an example, in this method, if too few data points are used, the fitting effect will be poor. If too many data points are used, the calculated slope may be substantially indicative of a lateral velocity over a period of time, and may not be representative of the current lateral velocity. Thus, in this example, a preset number range may be set, for example, 5-7.

After performing the data preprocessing operation on the lateral movement trajectory data, it may be further determined whether the number of lateral position data included in the lateral movement trajectory data obtained after performing the data preprocessing operation is between 5 and 7.

If yes, go to step 204.

If not, go to step 205.

In step 204, a lateral speed direction of the target vehicle is determined based on the lateral movement trajectory data.

Specifically, in this example, the method of using the above-mentioned unitary linear regression equation may be used to determine the lateral speed direction of the target vehicle according to the lateral movement track data. Specific procedures can be referred to the description of the foregoing embodiments, and will not be repeated here.

In step 205, the collected speed data of the target vehicle is projected to a Frenet coordinate system to calculate the lateral speed direction of the target vehicle.

When the number of the lateral position data included in the lateral movement trajectory data obtained after the data preprocessing operation is judged to be not within the range of 5-7, the accuracy of the lateral speed direction of the target vehicle determined by the method adopting the unitary linear regression equation is lower. At this time, the speed of the target vehicle acquired by a camera, a radar, or the like may be projected to the Frenet coordinate system, and the speed in the L direction may be calculated, and the speed in the L direction may be used as the lateral speed of the target vehicle, so as to determine the lateral speed direction of the target vehicle. The specific procedure for determining the transverse velocity direction based on the Frenet coordinate system can be found in the description of the related documents, and will not be described in detail here.

It should be noted that the foregoing description of the preset number range set to 5-7 is merely illustrative, and may be set to 4-6, etc. in practical applications, which is not limited to the present disclosure.

According to the transverse speed direction determining method provided by the embodiment of the disclosure, after the transverse movement track data of the target vehicle is obtained, the current vehicle can execute data preprocessing operation on the transverse movement track data, so that abnormal large, abnormal small and repeatedly occurring transverse position data in the transverse movement track data are removed, the accuracy of the calculated transverse speed direction is improved, the lane changing intention of the target vehicle is further accurately predicted, and the safety of automatic driving is improved.

For the foregoing method embodiments, for simplicity of explanation, the methodologies are shown as a series of acts, but one of ordinary skill in the art will appreciate that the present disclosure is not limited by the order of acts described, as some steps may occur in other orders or concurrently in accordance with the disclosure.

Further, those skilled in the art will also appreciate that the embodiments described in the specification are all alternative embodiments, and that the acts and modules referred to are not necessarily required by the present disclosure.

Corresponding to the embodiment of the application function implementation method, the disclosure also provides an embodiment of the application function implementation device and a corresponding terminal.

Fig. 3 is a schematic structural view of a lateral velocity direction determining apparatus according to an exemplary embodiment of the present disclosure. As shown in fig. 3, the lateral velocity direction determining apparatus may include:

the first data determining module 31 is configured to determine, when it is determined that the target vehicle is traveling within a preset distance threshold in front of the current vehicle, the perceived fusion data acquired by the first module as lateral movement trajectory data of the target vehicle; the first module is a data processing module developed for the current vehicle.

A second data determining module 32, configured to determine the perceived fusion data acquired by the second module as lateral movement trajectory data of the target vehicle when it is determined that the target vehicle is traveling beyond the current vehicle front preset distance threshold; the second module is a data processing module provided by a third party provider.

A first direction determining module 33, configured to determine a lateral speed direction of the target vehicle according to the lateral movement track data.

Optionally, the perceptual fusion data acquired by the first module includes at least one of:

And the first transverse movement track data is obtained according to the change of the distance between the target vehicle and the left boundary line of the lane where the target vehicle is located.

And obtaining second transverse movement track data according to the change of the distance between the target vehicle and the right boundary line of the lane where the target vehicle is located.

Optionally, the first direction determining module 33, when configured to determine the lateral speed direction of the target vehicle according to the lateral movement track data, includes any one of the following:

and determining the transverse speed direction of the target vehicle according to the first transverse movement track data in response to determining that the target vehicle runs on the right lane of the lane where the current vehicle is located.

And in response to determining that the target vehicle is driven on the left lane of the lane where the current vehicle is, determining the transverse speed direction of the target vehicle according to the second transverse movement track data.

Optionally, on the basis of the module shown in fig. 3, the transverse velocity direction determining apparatus may further include:

the data preprocessing module is used for executing data preprocessing operation on the transverse movement track data; wherein the data preprocessing operation includes at least one of:

and deleting the transverse position data which do not belong to the preset numerical range in the transverse movement track data.

Optionally, the first direction determining module 33, when configured to determine the lateral speed direction of the target vehicle according to the lateral movement track data, includes:

and the second direction determining module is used for calculating the transverse speed direction of the target vehicle by projecting the acquired speed data of the target vehicle to a Frenet coordinate system in Frey in response to determining that the quantity of the transverse position data included in the transverse movement track data obtained after the data preprocessing operation is not in the preset quantity range.

Optionally, the transverse movement track data includes a plurality of groups of data pairs formed by target time point-transverse position data; the lateral position data is obtained based on the distance between the target vehicle and a lane line;

the first direction determining module 33, when configured to determine a lateral speed direction of the target vehicle based on the lateral movement trajectory data, includes:

and constructing a unitary linear regression equation by taking the target time point in each data pair as an independent variable and the transverse position data as a dependent variable.

And calculating the slope of the unitary linear regression equation based on the constructed multiple unitary linear regression equations.

For the device embodiments, reference is made to the description of the method embodiments for the relevant points, since they essentially correspond to the method embodiments. The apparatus embodiments described above are merely illustrative, wherein the elements described above as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the objectives of the disclosed solution. Those of ordinary skill in the art will understand and implement the present invention without undue burden.

Fig. 4 is a schematic diagram of an electronic device 400, according to an example embodiment. For example, the electronic device 400 may be an autonomous vehicle or the like.

Referring to fig. 4, an electronic device 400 may include one or more of the following components: a processing component 402, a memory 404, a power supply component 406, a multimedia component 408, an audio component 410, an input/output (I/O) interface 412, a sensor component 414, and a communication component 416.

The processing component 402 generally controls overall operation of the electronic device 400, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing component 402 may include one or more processors 420 to execute instructions to perform all or part of the steps of the methods described above. Further, the processing component 402 can include one or more modules that facilitate interaction between the processing component 402 and other components. For example, the processing component 402 may include a multimedia module to facilitate interaction between the multimedia component 408 and the processing component 402.

Memory 404 is configured to store various types of data to support operations at device 400. Examples of such data include instructions for any application or method operating on electronic device 400, contact data, phonebook data, messages, pictures, videos, and the like. The memory 404 may be implemented by any type or combination of volatile or nonvolatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk.

The power supply component 406 provides power to the various components of the electronic device 400. The power components 406 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the electronic device 400.

The multimedia component 408 includes a screen that provides an output interface between the electronic device 400 and the user. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from a user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensor may sense not only a boundary of a touch or a sliding action but also a duration and a pressure related to the touch or the sliding operation. In some embodiments, the multimedia component 408 includes a front camera and/or a rear camera. When the electronic device 400 is in an operational mode, such as a shooting mode or a video mode, the front-facing camera and/or the rear-facing camera may receive external multimedia data. Each front camera and rear camera may be a fixed optical lens system or have focal length and optical zoom capabilities.

The audio component 410 is configured to output and/or input audio signals. For example, the audio component 410 includes a Microphone (MIC) configured to receive external audio signals when the electronic device 400 is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may be further stored in the memory 404 or transmitted via the communication component 416. In some embodiments, audio component 410 further includes a speaker for outputting audio signals.

The I/O interface 412 provides an interface between the processing component 402 and peripheral interface modules, which may be a keyboard, click wheel, buttons, etc. These buttons may include, but are not limited to: homepage button, volume button, start button, and lock button.

The sensor assembly 414 includes one or more sensors for providing status assessment of various aspects of the electronic device 400. For example, the sensor assembly 414 may detect an on/off state of the electronic device 400, a relative positioning of the components, such as a display and keypad of the electronic device 400, the sensor assembly 414 may also detect a change in position of the electronic device 400 or a component of the electronic device 400, the presence or absence of a user's contact with the electronic device 400, an orientation or acceleration/deceleration of the electronic device 400, and a change in temperature of the electronic device 400. The sensor assembly 414 may include a proximity sensor configured to detect the presence of nearby objects in the absence of any physical contact. The sensor assembly 414 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 414 may also include an acceleration sensor, a gyroscopic sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

The communication component 416 is configured to facilitate communication between the electronic device 400 and other devices, either wired or wireless. The electronic device 400 may access a wireless network based on a communication standard, such as WiFi,4G or 5G,4G LTE, 5G NR, or a combination thereof. In one exemplary embodiment, the communication component 416 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, the communication component 416 described above further includes a Near Field Communication (NFC) module to facilitate short range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, ultra Wideband (UWB) technology, bluetooth (BT) technology, and other technologies.

In an exemplary embodiment, the electronic device 400 may be implemented by one or more Application Specific Integrated Circuits (ASICs), digital Signal Processors (DSPs), digital Signal Processing Devices (DSPDs), programmable Logic Devices (PLDs), field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic elements for executing the methods described above.

In an exemplary embodiment, there is also provided a non-transitory computer readable storage medium, such as memory 404 including instructions that, when executed by processor 420 of electronic device 400, enable electronic device 400 to perform a lateral velocity direction determination method of:

When the target vehicle is determined to run within a preset distance threshold in front of the current vehicle, the perception fusion data acquired by the first module are determined to be transverse movement track data of the target vehicle; the first module is a data processing module developed for the current vehicle.

When the target vehicle is determined to run outside the preset distance threshold in front of the current vehicle, the perception fusion data acquired by the second module are determined to be the transverse movement track data of the target vehicle; the second module is a data processing module provided by a third party provider.

The non-transitory computer readable storage medium may be a ROM, random-access memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This disclosure is intended to cover any adaptations, uses, or adaptations of the disclosure following the general principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It is to be understood that the present disclosure is not limited to the precise arrangements and instrumentalities shown in the drawings, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A method of determining a lateral speed direction, the method being applied to a current vehicle, the method comprising:

2. The method of claim 1, wherein the perceived fusion data obtained by the first module includes at least one of:

3. The method according to claim 2, wherein the determining the lateral speed direction of the target vehicle from the lateral movement trajectory data includes any one of:

4. The method according to claim 1, wherein before the determination of the lateral speed direction of the target vehicle from the lateral movement trajectory data, the method further comprises:

5. The method of claim 4, wherein determining the lateral speed direction of the target vehicle from the lateral movement trajectory data comprises:

6. The method of claim 5, wherein the method further comprises:

7. The method according to claim 1, wherein the lateral movement trajectory data includes a plurality of sets of data pairs of target time point-lateral position data; the lateral position data is obtained based on the distance between the target vehicle and a lane line;

8. A lateral speed direction determining apparatus, the apparatus being applied to a current vehicle, the apparatus comprising:

9. A computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of the method of any of claims 1-7.

10. An electronic device, comprising:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured for performing the steps of the method of any of claims 1-7.