CN117995022A

CN117995022A - Screening method and device for crossing vehicle targets, vehicle and storage medium

Info

Publication number: CN117995022A
Application number: CN202410408706.5A
Authority: CN
Inventors: 周枫; 文琼; 王超; 李伟男; 刘畅; 于淼
Original assignee: FAW Group Corp
Current assignee: FAW Group Corp
Priority date: 2024-04-07
Filing date: 2024-04-07
Publication date: 2024-05-07

Abstract

The application relates to the technical field of intelligent driving, in particular to a screening method and device for crossing a vehicle target, a vehicle and a storage medium, wherein the screening method comprises the following steps: acquiring vehicle information of a current vehicle and attribute information of a plurality of surrounding targets; screening at least one target vehicle meeting preset conditions from a plurality of surrounding targets based on the attribute information, and determining all the crossing vehicles in a preset transverse and longitudinal detection area according to the vehicle information and the attribute information of the at least one target vehicle; and calculating the final collision time of the current vehicle and each crossing vehicle according to the attribute information and the vehicle information of all crossing vehicles, and screening out the collision vehicles meeting the preset collision risk conditions according to the final collision time. Therefore, through screening the transverse vehicles in the transverse and longitudinal detection areas and calculating the collision time of the collision risk vehicles based on the transverse vehicles, the problems that the transverse vehicles are difficult to accurately identify and classify, the algorithm is complex in calculation and the like in the related technology are solved, the required calculation force is small, and the calculation speed is high.

Description

Screening method and device for crossing vehicle targets, vehicle and storage medium

Technical Field

The application relates to the technical field of intelligent driving, in particular to a screening method and device for crossing a vehicle target, a vehicle and a storage medium.

Background

The development of intelligent driving technology is mature, and strong support is provided for realizing safer and more efficient road driving. Through the effective monitoring to crossing the vehicle, intelligent driving system can discern the vehicle that crosses on the road in real time, in time take braking or avoid the measure to reduce the probability of occurrence of traffic accident, ensure driver and other road users' safety.

In the related art, a camera and an image processing technology are generally used for identifying a crossing vehicle target, and a deep learning algorithm is adopted for detecting and identifying the vehicle target.

However, the above technology is easily interfered by environmental factors, it is difficult to accurately identify and classify the crossing vehicles, the output target accuracy is low, the targets with high risk degree cannot be distinguished, the algorithm is complex in calculation, and the requirements on the calculation resources and the power consumption of the system are high, so that improvement is needed.

Disclosure of Invention

The application provides a screening method, a screening device, a screening vehicle and a screening storage medium for a crossing vehicle target, which are used for solving the problems that the crossing vehicle is difficult to accurately identify and classify in the related technology, the algorithm is complex to calculate and the like.

An embodiment of a first aspect of the present application provides a screening method for a vehicle crossing a vehicle target, including the steps of:

Acquiring vehicle information of a current vehicle and attribute information of a plurality of surrounding targets;

Screening at least one target vehicle meeting a preset condition from the surrounding multiple targets based on the attribute information, and determining all traversing vehicles in a preset transverse and longitudinal detection area according to the vehicle information and the attribute information of the at least one target vehicle;

and calculating the final collision time of the current vehicle and each crossing vehicle according to the attribute information of all crossing vehicles and the vehicle information, and screening out collision vehicles meeting preset collision risk conditions according to the final collision time.

According to the technical means, the problems that the traversing vehicles are difficult to accurately identify and classify, the algorithm is complex in calculation and the like in the related technology are solved, the traversing vehicles and the types thereof can be accurately identified, the collision time of collision risk vehicles can be calculated, the required calculation force is small, and the calculation speed is high.

According to one embodiment of the present application, the vehicle information includes a vehicle speed of the current vehicle, a width of the current vehicle, a distance from a front edge of the current vehicle to a center of a rear axle of the current vehicle, a distance from the current vehicle to both side edges, a lateral sensing accuracy of the current vehicle, and a longitudinal sensing accuracy of the current vehicle; the attribute information includes a confidence level of each target, a type of each target, a lateral speed of each target relative to the current vehicle, a lateral acceleration of each target relative to the current vehicle, a lateral width of each target relative to the current vehicle, a longitudinal length of each target relative to the current vehicle, a longitudinal distance of a geometric center of each target from a rear axle center of the current vehicle, a lateral distance of a geometric center of each target from a rear axle center of the current vehicle.

According to the technical means, the distance and the relative motion state between the target type and other targets can be calculated and predicted according to the vehicle information, the target type can be used for identifying different types of targets, such as distinguishing automobiles, trucks, bicycles and the like, the transverse speed and the transverse acceleration of the target relative to the current vehicle can predict the future state and track of the target, the transverse width and the longitudinal length of the target relative to the current vehicle can determine the size and the dimension of the target, and therefore the distance between the target and the collision risk evaluation can be determined.

According to one embodiment of the present application, the screening at least one target vehicle satisfying a preset condition from the surrounding plurality of targets based on the attribute information includes:

Screening at least one initial target with the confidence coefficient larger than a preset confidence coefficient threshold value based on the confidence coefficient of each target;

Screening non-vehicle targets from the at least one initial target based on the type of each target to obtain the at least one target vehicle.

According to the technical means, the initial target with the confidence higher than the threshold is screened out by setting the threshold, so that the interference of unreliable targets is reduced, and the accuracy of the system is improved. By classifying the targets, non-vehicle targets are screened out, resulting in a target vehicle, enabling the system to focus on processing of vehicle targets to reduce the amount of computation.

According to an embodiment of the present application, the determining all the crossing vehicles in the preset lateral-longitudinal detection area according to the vehicle information and the attribute information of the at least one target vehicle includes:

Calculating the transverse distance from the geometric center of each target vehicle to the lane center line of the current vehicle by taking the lane line coordinate system of the current vehicle as a reference to obtain the mapping abscissa of each target vehicle, and integrating the lane center line of the current vehicle to obtain the mapping ordinate of each target vehicle based on the position of the current vehicle and the projection point from the transverse distance between the geometric center of each target and the rear axle center of the current vehicle to the lane center line of the current vehicle;

determining a transverse detection area and a longitudinal detection area according to the speed of the current vehicle, the distance between the current vehicle and the road edges at two sides, the transverse sensing precision of the current vehicle and the longitudinal sensing precision of the current vehicle;

Screening out target vehicles which are not in the transverse detection area and the longitudinal detection area based on the mapping abscissa of each target vehicle and the mapping ordinate of each target vehicle to obtain all the traversing vehicles.

According to the technical means, the transverse distance and the geometric center distance between the target vehicle and the center line of the lane where the current vehicle is located can be accurately calculated by taking the lane line coordinate system of the current vehicle as a reference, and accurate position information is provided for subsequent processing. The detection area is determined according to the speed of the current vehicle, the distance between the current vehicle and the road edges at two sides, the transverse sensing precision and the longitudinal sensing precision, the size of the detection area can be flexibly adjusted according to actual conditions, and the calculated amount and redundant information are reduced. And screening out target vehicles in the transverse detection area and the longitudinal detection area, filtering out irrelevant target vehicles, and improving the accuracy and efficiency of target detection and tracking.

According to one embodiment of the present application, the calculating the final collision time of the current vehicle with each crossing vehicle according to the attribute information of all crossing vehicles and the vehicle information includes:

Calculating the maximum distance and the minimum distance between the current vehicle and each target vehicle according to a first preset margin and a second preset margin respectively based on the longitudinal distance between the geometric center of each target and the rear axle center of the current vehicle, the distance between the front edge of the current vehicle and the rear axle center of the current vehicle and the transverse width of each target relative to the current vehicle;

Calculating a maximum collision time and a minimum collision time of the current vehicle and each target vehicle according to the maximum distance, the minimum distance and the speed of the current vehicle, determining a passable domain of the current vehicle according to the width of the current vehicle and the offset determined by the type of each traversing vehicle, and calculating a left boundary and a right boundary of the current vehicle and each traversing vehicle according to the lateral distance between the geometric center of each target and the rear axle center of the current vehicle and the lateral width of each target relative to the current vehicle;

And calculating the final collision time of the current vehicle and each traversing vehicle according to the maximum collision time, the minimum collision time, the transverse speed of each traversing vehicle, the passable domain of the current vehicle, the left boundary and the right boundary of the current vehicle and each traversing vehicle.

According to the technical means, the safety distance between the current vehicle and the target vehicle can be evaluated by calculating the collision time, so that early warning is timely carried out or corresponding measures are taken, and the road safety is ensured. The range of the safety space between the current vehicle and the target vehicle can be further defined by calculating the left and right boundaries of the current vehicle and the crossing vehicle. The final collision time of the current vehicle and the transverse vehicle is calculated by comprehensively considering various factors, so that the collision risk between the current vehicle and the transverse vehicle can be estimated more accurately, and important references are provided for driving decisions.

According to an embodiment of the present application, after screening out the collision vehicles that meet the preset collision risk condition according to the final collision time, further includes:

dividing the collision vehicles into a first side risk vehicle set and a second side risk vehicle set based on the lateral distance between the geometric center of each target and the rear axle center of the current vehicle;

And respectively carrying out longitudinal distance calculation on collision vehicles in the first side risk vehicle set and the second side risk vehicle set to obtain a first side minimum longitudinal distance vehicle and a second side minimum longitudinal distance vehicle.

According to the technical means, the vehicles with relatively close transverse positions can be grouped by dividing the risk vehicle sets, and potential collision risks of different sides can be processed more pertinently. By calculating the longitudinal distances of different sides, collision risks in different directions can be evaluated more specifically, and multi-dimensional safety pre-warning is provided.

According to the screening method for crossing the vehicle targets, which is provided by the embodiment of the application, the attribute information of the vehicles and surrounding targets is acquired, the target vehicles meeting the conditions are screened out, the crossing vehicles are determined, the final collision time is calculated, and the collision vehicles meeting the collision risk conditions are screened out. Therefore, through screening the transverse vehicles in the transverse and longitudinal detection areas and calculating the collision time of the collision risk vehicles based on the transverse vehicles, the problems that the transverse vehicles are difficult to accurately identify and classify, the algorithm is complex in calculation and the like in the related technology are solved, the required calculation force is small, and the calculation speed is high.

An embodiment of the second aspect of the present application provides a screening apparatus for traversing a vehicle object, comprising:

the acquisition module is used for acquiring vehicle information of the current vehicle and attribute information of a plurality of surrounding targets;

the first screening module is used for screening at least one target vehicle meeting preset conditions from the surrounding multiple targets based on the attribute information, and determining all the crossing vehicles in a preset transverse and longitudinal detection area according to the vehicle information and the attribute information of the at least one target vehicle;

and the second screening module is used for calculating the final collision time of the current vehicle and each crossing vehicle according to the attribute information of all crossing vehicles and the vehicle information, and screening out collision vehicles meeting the preset collision risk conditions according to the final collision time.

According to one embodiment of the present application, the first screening module is configured to:

According to one embodiment of the present application, the second screening module is configured to:

According to an embodiment of the present application, after screening out the collision vehicles that meet the preset collision risk condition according to the final collision time, the second screening module is further configured to:

According to the screening device for crossing the vehicle targets, which is provided by the embodiment of the application, the attribute information of the vehicles and surrounding targets is acquired, the target vehicles meeting the conditions are screened out, the crossing vehicles are determined, the final collision time is calculated, and the collision vehicles meeting the collision risk conditions are screened out. Therefore, through screening the transverse vehicles in the transverse and longitudinal detection areas and calculating the collision time of the collision risk vehicles based on the transverse vehicles, the problems that the transverse vehicles are difficult to accurately identify and classify, the algorithm is complex in calculation and the like in the related technology are solved, the required calculation force is small, and the calculation speed is high.

An embodiment of a third aspect of the present application provides a vehicle including: a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the screening method for traversing a vehicle object as described in the above embodiments.

A fourth aspect embodiment of the present application provides a computer-readable storage medium storing computer instructions for causing the computer to perform the screening method for traversing a vehicle object according to the above embodiment.

Additional aspects and advantages of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the application.

Drawings

The foregoing and/or additional aspects and advantages of the application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:

FIG. 1 is a flow chart of a screening method for traversing a vehicle object according to an embodiment of the present application;

FIG. 2 is a schematic diagram of a lane line coordinate system in which a current vehicle is located, according to one embodiment of the application;

FIG. 3 is a schematic diagram of a current vehicle mapped to a lane line coordinate system according to one embodiment of the application;

FIG. 4 is a schematic illustration of a target vehicle left boundary to the right of a current vehicle right boundary and with a target vehicle speed direction to the left in accordance with one embodiment of the application;

FIG. 5 is a schematic illustration of a target vehicle left boundary to the left of a current vehicle left boundary and with the target vehicle speed direction to the right in accordance with one embodiment of the application;

FIG. 6 is a schematic illustration of a target vehicle left boundary to the left of a current vehicle right boundary, the target vehicle right boundary to the right of the current vehicle left boundary, and the target vehicle speed direction to the left, according to one embodiment of the application;

FIG. 7 is a schematic illustration of a target vehicle left boundary to the left of a current vehicle right boundary, the target vehicle right boundary to the right of the current vehicle left boundary, and the target vehicle speed direction to the right, according to one embodiment of the application;

FIG. 8 is a block schematic diagram of a screening apparatus traversing a vehicle target in accordance with an embodiment of the present application;

fig. 9 is a schematic structural diagram of a vehicle according to an embodiment of the present application.

Wherein, 10-screening device crossing vehicle object, 100-acquisition module, 200-first screening module, 300-second screening module, 901-memory, 902-processor, 903-communication interface.

Detailed Description

Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present application and should not be construed as limiting the application.

The following describes a screening method, apparatus, vehicle and storage medium for traversing a vehicle object according to an embodiment of the present application with reference to the accompanying drawings. Aiming at the problems that the traversing vehicles are difficult to accurately identify and classify, the algorithm is complex to calculate and the like in the background technology, the application provides a screening method of traversing vehicle targets, attribute information of vehicles and surrounding targets is acquired, target vehicles meeting the conditions are screened out, traversing vehicles are determined, final collision time is calculated, and collision vehicles meeting collision risk conditions are screened out. Therefore, through screening the transverse vehicles in the transverse and longitudinal detection areas and calculating the collision time of the collision risk vehicles based on the transverse vehicles, the problems that the transverse vehicles are difficult to accurately identify and classify, the algorithm is complex in calculation and the like in the related technology are solved, the required calculation force is small, and the calculation speed is high.

Specifically, fig. 1 is a schematic flow chart of a screening method for traversing a vehicle object according to an embodiment of the present application.

As shown in fig. 1, the screening method for crossing a vehicle object includes the steps of:

in step S101, vehicle information of a current vehicle and attribute information of a plurality of surrounding objects are acquired.

Wherein, in some embodiments, the vehicle information includes a speed of the current vehicle, a width of the current vehicle, a distance from a front edge of the current vehicle to a center of a rear axle of the current vehicle, a distance from the current vehicle to both sides of the road edge, a lateral sensing accuracy of the current vehicle, and a longitudinal sensing accuracy of the current vehicle; the attribute information includes a confidence level of each target, a type of each target, a lateral speed of each target relative to the current vehicle, a lateral acceleration of each target relative to the current vehicle, a lateral width of each target relative to the current vehicle, a longitudinal length of each target relative to the current vehicle, a longitudinal distance of a geometric center of each target from a rear axle center of the current vehicle, a lateral distance of a geometric center of each target from a rear axle center of the current vehicle.

Alternatively, the type of each target may be a truck (including a bus), a car, a two-wheel vehicle, an unknown type, or the like.

Specifically, the embodiment of the application can obtain Vehicle information such as the speed, the width, the distance from the front edge to the center of the rear axle, the distance from the road edge and the like of the current Vehicle through sensors such as a radar, a camera, a laser radar and the like which are installed on the Vehicle, and simultaneously obtain attribute information such as the confidence level, the type, the transverse speed, the transverse acceleration, the transverse width, the longitudinal length, the longitudinal distance and the transverse distance from the center of the rear axle of the current Vehicle and the like of a plurality of surrounding targets, and can also obtain attribute information such as the type, the speed, the distance and the like of the vehicles of the plurality of surrounding targets through a communication technology (such as V2X (Vehicle to X) between the Vehicle and an infrastructure).

In step S102, at least one target vehicle satisfying a preset condition is selected from a plurality of targets around based on the attribute information, and all the crossing vehicles in the preset lateral-longitudinal detection area are determined based on the vehicle information and the attribute information of the at least one target vehicle.

The preset transverse and longitudinal detection area may be a specific area preset by the vehicle or the system for detecting surrounding targets during running, or may be a detection area determined according to the speed of the current vehicle, the distance between the current vehicle and the road edges at two sides, the transverse sensing precision of the current vehicle, and the longitudinal sensing precision of the current vehicle. Preferably, the preset condition may be that the confidence of the target is greater than a preset threshold, which is not specifically limited herein.

Specifically, the embodiment of the application can screen at least one target vehicle meeting the condition from a plurality of surrounding targets according to the preset condition by using the attribute information of the target vehicle through a logic judgment or classification algorithm or machine learning method and the like. And setting a detection area in a certain range of vehicle perception for a transverse and longitudinal area to be detected, comparing the detection area with the set transverse and longitudinal detection area according to the position information of the target vehicle, further determining whether the target vehicle is in the preset detection area, and further identifying whether the target vehicle is a transverse vehicle according to the attribute information of the vehicle.

Further, in some embodiments, screening at least one target vehicle satisfying a preset condition from among a plurality of surrounding targets based on the attribute information includes: screening at least one initial target with the confidence coefficient larger than a preset confidence coefficient threshold value based on the confidence coefficient of each target; based on the type of each target, at least one target vehicle is obtained by screening non-vehicle targets from at least one initial target.

The preset confidence threshold may be a confidence threshold preset by a person skilled in the art, may be a confidence threshold obtained through limited experiments, or may be a confidence threshold obtained through computer simulation, which is not specifically limited herein.

Specifically, according to the input confidence signal of each target, the target with low confidence is screened out to obtain an initial target, and according to the type of the target (such as the truck, the automobile, the two-wheel vehicle and the like), the non-vehicle target in the initial target is screened out to obtain the target vehicle.

Further, in some embodiments, determining all traversing vehicles in the preset lateral-longitudinal detection area based on the vehicle information and the attribute information of the at least one target vehicle includes: calculating the transverse distance from the geometric center of each target vehicle to the central line of the lane where the current vehicle is positioned by taking the lane line coordinate system of the current vehicle as a reference to obtain the mapping abscissa of each target vehicle, and integrating the central line of the lane where the current vehicle is positioned to obtain the mapping ordinate of each target vehicle based on the position where the current vehicle is positioned and the projection point from the transverse distance from the geometric center of each target to the rear axle center of the current vehicle to the central line of the lane where the current vehicle is positioned; determining a transverse detection area and a longitudinal detection area according to the speed of the current vehicle, the distance between the current vehicle and the road edges at two sides, the transverse sensing precision of the current vehicle and the longitudinal sensing precision of the current vehicle; screening out target vehicles that are not within the lateral detection zone and the longitudinal detection zone based on the mapped abscissa of each target vehicle and the mapped ordinate of each target vehicle results in all traversing vehicles.

In the embodiment of the present application, the current vehicle runs along the center line of the lane, and at this time, the lateral distance from the geometric center of each target vehicle to the center line of the lane where the current vehicle is located and the lateral distance from the geometric center of each target to the center of the rear axle of the current vehicle are equal.

The lane line coordinate system where the current vehicle is located is shown in fig. 2, and the center line equation of the lane where the current vehicle is located is:

（1）

Wherein, In the lane line coordinate system of the current vehicle, the transverse distance of the lane line from the current vehicle is/is at the position of X meters of the longitudinal distance、/>、/>、/>Is constant, X is distance.

Specifically, as shown in fig. 3, the lateral distance between the geometric center of the target vehicle and the center line of the lane where the current vehicle is located is calculated according to the projection of the target vehicle to the center line of the lane where the current vehicle is locatedThereby obtaining the mapping abscissa/>, of the target vehicleAnd takes the current position of the vehicle as a starting point to calculate/>The projection point from the geometric center of the target vehicle to the central line of the lane of the current vehicle is taken as the end point, and the central line of the lane of the current vehicle is integrated, so that the longitudinal distance/>, of the geometric center of the target vehicle, from the central line of the lane of the current vehicle is obtainedI.e. the mapped ordinate/>, of the target vehicle in the current vehicle lane line coordinate system。

Further, the lateral distance between the left and right boundaries of the current vehicle and the road edges (namely the distance between the current vehicle and the road edges at two sides) is obtained according to the road edge information, and the maximum value of the lateral sensing precision range of the current vehicle is combinedObtain the transverse detection area/>For/>(Distance of current vehicle from both sides edges,/>). According to the maximum value/>, of the longitudinal sensing accuracy range of the current vehicleAnd the speed of the current vehicle to obtain a longitudinal detection area/>For/>，/>; Wherein/>For the calibration amount, the range is 4-8,/>Is the speed of the current vehicle.

Further, according to the mapping abscissa and the mapping ordinate of the target vehicle, the position of the target vehicle is obtainedAnd will not be in the lateral detection region/>And within the longitudinal detection zone/>Target vehicles within range are screened out, resulting in all traversing vehicles.

In step S103, the final collision time of the current vehicle with each of the crossing vehicles is calculated based on the attribute information and the vehicle information of all of the crossing vehicles, and the collision vehicles satisfying the preset collision risk conditions are screened out based on the final collision time.

The preset collision risk condition may be a collision risk condition preset by a person skilled in the art, may be a collision risk condition obtained through limited experiments, or may be a collision risk condition obtained through computer simulation, which is not specifically limited herein.

In particular, by performing calculations based on all of the attribute information and vehicle information of the traversing vehicle, a comprehensive data set can be obtained, providing a more accurate estimate of the time of collision. Through screening based on final collision time, collision vehicles specifically meeting the conditions can be screened out according to preset collision risk conditions, so that collision risk is reduced more effectively.

Further, in some embodiments, calculating a final collision time of the current vehicle with each of the traversing vehicles based on the attribute information and the vehicle information of all of the traversing vehicles includes: calculating the maximum distance and the minimum distance between the current vehicle and each target vehicle according to the first preset margin and the second preset margin respectively based on the longitudinal distance between the geometric center of each target and the center of the rear axle of the current vehicle, the distance between the front edge of the current vehicle and the center of the rear axle of the current vehicle and the transverse width of each target relative to the current vehicle; calculating the maximum collision time and the minimum collision time of the current vehicle and each target vehicle according to the maximum distance, the minimum distance and the speed of the current vehicle, determining the passable domain of the current vehicle according to the width of the current vehicle and the offset determined by the type of each crossing vehicle, and calculating the left boundary and the right boundary of the current vehicle and each crossing vehicle according to the transverse distance between the geometric center of each target and the rear axle center of the current vehicle and the transverse width of each target relative to the current vehicle; the final collision time of the current vehicle with each traversing vehicle is calculated from the maximum collision time, the minimum collision time, the lateral speed of each traversing vehicle, the passable domain of the current vehicle, the left and right boundaries of the current vehicle with each traversing vehicle.

In order to ensure the safety of the vehicle, the embodiment of the application sets a first preset margin and a second preset margin, wherein the first preset margin and the second preset margin can be preset by a person skilled in the art, can be obtained through limited experiments or obtained through computer simulation, and are not particularly limited. Preferably, the first preset margin is 0.5 and the second preset margin is 1.5.

Alternatively, the current vehicle distance from each target vehicle may be the distance from the tail of the target vehicle to the current vehicle front.

Specifically, in order to facilitate understanding of the maximum distance between the current vehicle and each target vehicle in the embodiments of the present application by those skilled in the art, the maximum distance may be represented by formula (2):

=/>-/>+/>（2）

Wherein, For the maximum distance of the current vehicle from each target vehicle,/>For the longitudinal distance of the geometric center of each target from the rear axle center of the current vehicle,/>For the distance of the current vehicle front edge to the center of the current vehicle rear axle,For the first preset margin,/>For each target's lateral width relative to the current vehicle,/>Is a second preset margin.

Further, the minimum distance of the current vehicle from each target vehicle may be expressed as:

=/>-/>（3）

Wherein, For the minimum distance of the current vehicle from each target vehicle,/>For the longitudinal distance of the geometric center of each target from the rear axle center of the current vehicle,/>Distance from front edge of current vehicle to center of rear axle of current vehicle,/>For the first preset margin,/>For each target's lateral width relative to the current vehicle,/>Is a second preset margin.

Further, according to the maximum distance and the speed of the current vehicle, the maximum collision time between the current vehicle and each target vehicle can be calculated by the following formula:

=/>（4）

Wherein, For the maximum collision time of the current vehicle with each target vehicle,/>For the maximum distance of the current vehicle from each target vehicle,/>Is the speed of the current vehicle.

Further, according to the minimum distance and the speed of the current vehicle, the minimum collision time between the current vehicle and each target vehicle can be calculated by the following formula:

=/>（5）

Wherein, For the minimum collision time of the current vehicle with each target vehicle,/>For the minimum distance of the current vehicle from each target vehicle,/>Is the speed of the current vehicle.

Further, the passable domain of the current vehicle can be determined by the formulae (6) and (7) from the bias amount determined by the width of the current vehicle and the type of each crossing vehicle:

0.5/>+/>（6）

-0.5/>–/>（7）

Wherein, For the left boundary of the current vehicle passable domain,/>For the width of the current vehicle,/>Offset determined for each type of traversing vehicle,/>Is the right boundary of the current vehicle passable domain.

Illustratively, for example, the type of traversing vehicle is a truck, an automobile, and a two-wheeled vehicle, the offset when traversing the type of vehicle is a truck is set toThe offset when the type of traversing vehicle is an automobile is/>The offset when the type of traversing vehicle is two-wheeled is/>Then/>、/>And/>Each can be expressed by the following formula:

（/> Truck) (8)

（/>Automobile) (9)

（/>Two-wheel vehicle (10)

Wherein,For bias when the type of traversing vehicle is a truck,/>For the longitudinal distance of the geometric center of the target vehicle from the center line of the lane where the current vehicle is located,/>To cross the type of vehicle,/>For bias when the type of traversing vehicle is an automobile,/>Is the amount of offset when the type of traversing vehicle is a two-wheeled vehicle.

Further, the left and right boundaries of the current vehicle and each crossing vehicle can be calculated according to the lateral distance between the geometric center of each target and the rear axle center of the current vehicle and the lateral width of each target relative to the current vehicle, and the left and right boundaries of the crossing vehicle can be calculated by the following formula:

（11）

（12）

Wherein, To cross the left boundary of the vehicle,/>For the lateral distance of the geometrical centre of the target from the centre of the rear axle of the current vehicle,/>For the lateral width of the target relative to the current vehicle,/>To intersect the right boundary of the vehicle.

Further, based on the calculated maximum collision time, minimum collision time, passable zone of the current vehicle, left and right boundaries of the current vehicle and each crossing vehicle, and lateral speed of each crossing vehicle, a final collision time of the current vehicle and each crossing vehicle can be calculated.

Further, in some embodiments, after screening out the collision vehicles that meet the preset collision risk condition according to the final collision time, the method further includes: dividing the collision vehicles into a first side risk vehicle set and a second side risk vehicle set based on the lateral distance between the geometric center of each target and the rear axle center of the current vehicle; and respectively carrying out longitudinal distance calculation on collision vehicles in the first side risk vehicle set and the second side risk vehicle set to obtain a first side minimum longitudinal distance vehicle and a second side minimum longitudinal distance vehicle.

Alternatively, the first set of side risk vehicles may be a left side risk vehicle set, and the second set of side risk vehicles may be a right side risk vehicle set, which is not specifically limited herein.

Preferably, dividing the collision vehicle into a first side risk vehicle collection when the lateral distance of the geometric center of each target from the rear axle center of the current vehicle is greater than 0; and dividing the collision vehicle into a second side risk vehicle collection when the transverse distance between the geometric center of each target and the rear axle center of the current vehicle is less than or equal to 0.

Further, longitudinal distance calculation is carried out on collision vehicles in the left side risk vehicle set and the right side risk vehicle set respectively, and a left minimum longitudinal distance vehicle and a right minimum longitudinal distance vehicle are obtained. Therefore, the two traversing vehicles with the highest dangerous degrees on the left side and the right side of the current vehicle are obtained through calculation, so that risks of collision and accidents of the vehicle are reduced, and safety of drivers and passengers is improved.

In order to facilitate the understanding of the screening method for crossing a vehicle object according to the present application by those skilled in the art, a detailed description will be given below with reference to specific examples.

Specifically, as shown in table 1 and fig. 4 in combination, fig. 4 is a schematic diagram of the left boundary of the target vehicle on the right side of the right boundary of the current vehicle and the direction of the speed of the target vehicle to the left (i.e., condition 1 in table 1), when the lateral speed of the target vehicle relative to the current vehicleGreater than the crossing speed determination criterion amount/>(The value range is 0.3-0.6), and the left boundary/>, of the target vehicleLess than the right boundary/>, of the current vehicle-passable domainBy calculating the right boundary/>, of the current vehicle passable domainLeft boundary with target vehicle/>To obtain the threshold value/>By calculating the left boundary/>, of the current vehicle passable domainRight boundary with target vehicle/>To obtain the threshold value/>And the square/>, of the initial velocity threshold can be calculated by equation (13)：

+2/>（13）

Wherein,For the lateral speed of the target vehicle relative to the current vehicle,/>For the lateral acceleration of the target vehicle relative to the current vehicle,/>Is the collision initiation distance threshold.

Further, the square of the termination speed threshold is calculated by equation (14)：

+2/>（14）

Wherein,For the lateral speed of the target vehicle relative to the current vehicle,/>For the lateral acceleration of the target vehicle relative to the current vehicle,/>Is a collision termination distance threshold.

Further, as shown in table 1 and fig. 5, fig. 5 is a schematic diagram of the left boundary of the target vehicle on the left side of the left boundary of the current vehicle and the direction of the speed of the target vehicle to the right (i.e. the working condition 2 in table 1), wherein the lateral speed of the target vehicle relative to the host vehicle is shown in fig. 5Less than the crossing speed determination criterion amount/>And right boundary/>, of the target vehicleGreater than the left boundary/>, of the current vehicle-passable domainBy calculating the right boundary/>, of the target vehicleLeft boundary/>, with current vehicle passable domainTo obtain the threshold value/>By calculating the left boundary/>, of the target vehicleRight boundary/>, with current vehicle passable domainTo obtain the threshold value/>And the square/>, of the initial velocity threshold can be calculated by the formula (13) and the formula (14), respectivelyAnd the square of the termination speed threshold/>。

Further, as shown in table 1 and fig. 6, fig. 6 is a schematic diagram (i.e. condition 3 in table 1) showing the situation where the left boundary of the target vehicle is on the left side of the right boundary of the current vehicle, the right boundary of the target vehicle is on the right side of the left boundary of the current vehicle and the speed direction of the target vehicle is to the left, and the lateral speed of the target vehicle relative to the host vehicle according to one embodiment of the present applicationGreater than the crossing speed determination criterion amount/>And left boundary/>, of the target vehicleGreater than the right boundary/>, of the current vehicle-passable domainAnd right boundary/>, of the target vehicleLess than or equal to the left boundary/>, of the current vehicle-passable domainAt this time, the collision starting distance threshold value0, By calculating the left boundary/>, of the current vehicle-passable domainRight boundary with target vehicle/>To obtain the threshold value/>At this time, square of the initial velocity threshold/>Is 0, and the square/>, of the termination speed threshold can be calculated by equation (14)。

Further, as shown in table 1 and fig. 7, fig. 7 is a schematic diagram (i.e. condition 4 in table 1) showing the situation where the left boundary of the target vehicle is on the left side of the right boundary of the current vehicle, the right boundary of the target vehicle is on the right side of the left boundary of the current vehicle and the speed direction of the target vehicle is to the right, and the lateral speed of the target vehicle relative to the host vehicle according to one embodiment of the present applicationLess than the crossing speed determination criterion amount/>And right boundary/>, of the target vehicleLess than or equal to the left boundary/>, of the current vehicle-passable domainAnd left boundary/>, of the target vehicleGreater than or equal to the right boundary/>, of the current vehicle-passable domainAt this time, collision initiation distance threshold/>0 By calculating the left boundary/>, of the target vehicleRight boundary with current vehicle passable domainTo obtain the threshold value/>At this time, square of the initial velocity threshold/>Is 0, and the square/>, of the termination speed threshold can be calculated by equation (14)。

TABLE 1

Further, the calculation of the minimum collision time and the maximum collision time of the collision possible for each target vehicle is given by way of pseudo codes for the 4 conditions in Table 1, respectively]：

Corresponding to working condition 1 and working condition 2:

if abs()>/>

if>0&&/>>0/>

end

else// lateral acceleration is relatively small, and the speed is directly used for calculating

Corresponding to working conditions 3 and 4:

if abs()>/>

if>0

end

Wherein,In order to judge the standard amount of the transverse acceleration, the value range is 0.05-0.15.

Further, the final collision time with each target vehicle is calculated according to the minimum collision time and the maximum collision time of the current vehicle and each target vehicle, and the pseudo codes are as follows:

if<=/>

End

If(<=/>&&/>>/>&&/></>)

end

If(<=/>&&/>>/>)

end

If(>=/>&&/></>&&/>=</>)

End

If(</>&&/>>/>&&/></>)

end

if>=/>

End

Wherein, For collision initiation time,/>Is the collision termination time.

Further according toJudging whether each target vehicle has collision risk, if/>There is no risk of collision, otherwise there is a risk of collision, and the target vehicle is accumulated when there is a risk of collision.

Further, the above-mentioned target vehicles with risk of collision are classified into left-side vehicle sets (number) And right vehicle set (quantity/>) And respectively for the left vehicle set (number/>) And right vehicle set (quantity/>) The vehicle in (1) calculates the longitudinal distance to obtain the vehicle/>, at the nearest longitudinal positions of the left side and the right side

Therefore, the vehicle set which is in a crossing state relative to the current vehicle can be detected, and the collision time of the two target vehicles with the highest risk degrees on the left side and the right side of the current vehicle and the vehicle with the collision risk can be calculated, so that the safety is improved.

A screening apparatus for traversing a vehicle object according to an embodiment of the present application will be described next with reference to the accompanying drawings.

Fig. 8 is a block schematic diagram of a screening apparatus traversing a vehicle target according to an embodiment of the present application.

As shown in fig. 8, the screening apparatus 10 for traversing a vehicle object includes: the system comprises an acquisition module 100, a first screening module 200 and a second screening module 300.

Wherein, the acquiring module 100 is configured to acquire vehicle information of a current vehicle and attribute information of a plurality of surrounding targets; a first screening module 200, configured to screen at least one target vehicle that meets a preset condition from a plurality of surrounding targets based on the attribute information, and determine all the crossing vehicles in the preset transverse and longitudinal detection area according to the vehicle information and the attribute information of the at least one target vehicle; the second screening module 300 is configured to calculate a final collision time between the current vehicle and each of the crossing vehicles according to the attribute information and the vehicle information of all the crossing vehicles, and screen out the collision vehicles meeting the preset collision risk condition according to the final collision time.

Further, in some embodiments, the vehicle information includes a speed of the current vehicle, a width of the current vehicle, a distance from a front edge of the current vehicle to a center of a rear axle of the current vehicle, a distance from the current vehicle to both side edges, a lateral sensing accuracy of the current vehicle, and a longitudinal sensing accuracy of the current vehicle; the attribute information includes a confidence level of each target, a type of each target, a lateral speed of each target relative to the current vehicle, a lateral acceleration of each target relative to the current vehicle, a lateral width of each target relative to the current vehicle, a longitudinal length of each target relative to the current vehicle, a longitudinal distance of a geometric center of each target from a rear axle center of the current vehicle, a lateral distance of a geometric center of each target from a rear axle center of the current vehicle.

Further, in some embodiments, the first screening module 200 is configured to: screening at least one initial target with the confidence coefficient larger than a preset confidence coefficient threshold value based on the confidence coefficient of each target; based on the type of each target, at least one target vehicle is obtained by screening non-vehicle targets from at least one initial target.

Further, in some embodiments, the first screening module 200 is configured to: calculating the transverse distance from the geometric center of each target vehicle to the central line of the lane where the current vehicle is positioned by taking the lane line coordinate system of the current vehicle as a reference to obtain the mapping abscissa of each target vehicle, and integrating the central line of the lane where the current vehicle is positioned to obtain the mapping ordinate of each target vehicle based on the position where the current vehicle is positioned and the projection point from the transverse distance from the geometric center of each target to the rear axle center of the current vehicle to the central line of the lane where the current vehicle is positioned; determining a transverse detection area and a longitudinal detection area according to the speed of the current vehicle, the distance between the current vehicle and the road edges at two sides, the transverse sensing precision of the current vehicle and the longitudinal sensing precision of the current vehicle; screening out target vehicles that are not within the lateral detection zone and the longitudinal detection zone based on the mapped abscissa of each target vehicle and the mapped ordinate of each target vehicle results in all traversing vehicles.

Further, in some embodiments, the second screening module 300 is configured to: calculating the maximum distance and the minimum distance between the current vehicle and each target vehicle according to the first preset margin and the second preset margin respectively based on the longitudinal distance between the geometric center of each target and the center of the rear axle of the current vehicle, the distance between the front edge of the current vehicle and the center of the rear axle of the current vehicle and the transverse width of each target relative to the current vehicle; calculating the maximum collision time and the minimum collision time of the current vehicle and each target vehicle according to the maximum distance, the minimum distance and the speed of the current vehicle, determining the passable domain of the current vehicle according to the width of the current vehicle and the offset determined by the type of each crossing vehicle, and calculating the left boundary and the right boundary of the current vehicle and each crossing vehicle according to the transverse distance between the geometric center of each target and the rear axle center of the current vehicle and the transverse width of each target relative to the current vehicle; the final collision time of the current vehicle with each traversing vehicle is calculated from the maximum collision time, the minimum collision time, the lateral speed of each traversing vehicle, the passable domain of the current vehicle, the left and right boundaries of the current vehicle with each traversing vehicle.

Further, in some embodiments, after screening out the collision vehicles that meet the preset collision risk condition according to the final collision time, the second screening module 300 is further configured to: dividing the collision vehicles into a first side risk vehicle set and a second side risk vehicle set based on the lateral distance between the geometric center of each target and the rear axle center of the current vehicle; and respectively carrying out longitudinal distance calculation on collision vehicles in the first side risk vehicle set and the second side risk vehicle set to obtain a first side minimum longitudinal distance vehicle and a second side minimum longitudinal distance vehicle.

It should be noted that the foregoing explanation of the embodiment of the screening method for crossing a vehicle object is also applicable to the screening apparatus for crossing a vehicle object of this embodiment, and will not be repeated here.

Fig. 9 is a schematic structural diagram of a vehicle according to an embodiment of the present application. The vehicle may include:

Memory 901, processor 902, and a computer program stored on memory 901 and executable on processor 902.

The processor 902, when executing the program, implements the screening method for traversing a vehicle object provided in the above-described embodiment.

Further, the vehicle further includes:

a communication interface 903 for communication between the memory 901 and the processor 902.

Memory 901 for storing a computer program executable on processor 902.

Memory 901 may comprise high-speed RAM memory or may also include non-volatile memory (non-volatile memory), such as at least one disk memory.

If the memory 901, the processor 902, and the communication interface 903 are implemented independently, the communication interface 903, the memory 901, and the processor 902 may be connected to each other through a bus and perform communication with each other. The bus may be an industry standard architecture (Industry Standard Architecture, abbreviated ISA) bus, an external device interconnect (PERIPHERAL COMPONENTINTERCONNECT, abbreviated PCI) bus, or an extended industry standard architecture (Extended Industry Standard Architecture, abbreviated EISA) bus, among others. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, only one thick line is shown in fig. 9, but not only one bus or one type of bus.

Alternatively, in a specific implementation, if the memory 901, the processor 902, and the communication interface 903 are integrated on a chip, the memory 901, the processor 902, and the communication interface 903 may communicate with each other through internal interfaces.

The processor 902 may be a central processing unit (Central Processing Unit, abbreviated as CPU), or an Application SPECIFIC INTEGRATED Circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the application.

The present embodiment also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the screening method for traversing a vehicle object as above.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, "N" means at least two, for example, two, three, etc., unless specifically defined otherwise.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing specific logical functions or steps of the process, and further implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.

Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or N wires, a portable computer cartridge (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.

It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. As with the other embodiments, if implemented in hardware, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.

Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.

In addition, each functional unit in the embodiments of the present application may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules may also be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product.

The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, or the like. While embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.

Claims

1. A method of screening a vehicle for traversing a target, comprising the steps of:

2. The method of claim 1, wherein the vehicle information includes a vehicle speed of the current vehicle, a width of the current vehicle, a distance from a front edge of the current vehicle to a center of a rear axle of the current vehicle, a distance from the current vehicle to both side edges, a lateral sensing accuracy of the current vehicle, and a longitudinal sensing accuracy of the current vehicle; the attribute information includes a confidence level of each target, a type of each target, a lateral speed of each target relative to the current vehicle, a lateral acceleration of each target relative to the current vehicle, a lateral width of each target relative to the current vehicle, a longitudinal length of each target relative to the current vehicle, a longitudinal distance of a geometric center of each target from a rear axle center of the current vehicle, a lateral distance of a geometric center of each target from a rear axle center of the current vehicle.

3. The method for screening objects across vehicles according to claim 2, wherein the screening at least one object vehicle satisfying a preset condition from the surrounding plurality of objects based on the attribute information, comprises:

4. A screening method of crossing vehicle targets according to claim 2 or 3, wherein said determining all crossing vehicles in a preset transverse-longitudinal detection area based on said vehicle information and attribute information of said at least one target vehicle comprises:

5. The method of screening a target of a passing vehicle according to claim 4, wherein calculating a final collision time of the current vehicle with each passing vehicle based on the attribute information of all passing vehicles and the vehicle information comprises:

6. The screening method for crossing a vehicle object according to claim 2, further comprising, after screening out a collision vehicle that satisfies the preset collision risk condition according to the final collision time:

7. A screening apparatus for traversing a vehicle object, comprising:

8. The screening apparatus for traversing a vehicle object according to claim 7, wherein the vehicle information comprises a vehicle speed of the current vehicle, a width of the current vehicle, a distance from a front edge of the current vehicle to a rear axle center of the current vehicle, a distance from the current vehicle to both side edges, a lateral sensing accuracy of the current vehicle, and a longitudinal sensing accuracy of the current vehicle; the attribute information includes a confidence level of each target, a type of each target, a lateral speed of each target relative to the current vehicle, a lateral acceleration of each target relative to the current vehicle, a lateral width of each target relative to the current vehicle, a longitudinal length of each target relative to the current vehicle, a longitudinal distance of a geometric center of each target from a rear axle center of the current vehicle, a lateral distance of a geometric center of each target from a rear axle center of the current vehicle.

9. A vehicle, characterized by comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the method of screening a vehicle object across as claimed in any one of claims 1 to 6.

10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program is executed by a processor for implementing a screening method of crossing a vehicle object according to any one of claims 1-6.