WO2021203341A1

WO2021203341A1 - Vehicle sensing method, apparatus and system

Info

Publication number: WO2021203341A1
Application number: PCT/CN2020/083871
Authority: WO
Inventors: 周伟; 宋鲁川; 戴丁樟
Original assignee: 华为技术有限公司
Priority date: 2020-04-09
Filing date: 2020-04-09
Publication date: 2021-10-14
Also published as: CN112655226A; CN112655226B

Abstract

A vehicle sensing method, apparatus and system, which can be applied to the Internet of Vehicles, such as V2X and V2V, or can be used in the fields of intelligent driving, intelligent networked vehicles, etc. The vehicle sensing method comprises: a network device acquiring road environment information, the road environment information comprising road change information and time-space information corresponding to the road change information, the road change information comprising one or more of the following information: obstacle information and dynamic road change information, the time-space information comprising one or more of the following: a time corresponding to the road change information, and a region corresponding to the road change information; the network device acquiring a first map, the first map being a map obtained by updating the road environment information of the current map; and the network device transmitting the first map to a first vehicle. The vehicle sensing method is able to effectively improve the vehicle's ability to sense the surrounding environment.

Description

Method, device and system for vehicle perception

Technical field

This application relates to the field of vehicle technology, and more specifically, to a method, device, and system for vehicle perception.

Background technique

Vehicle to everything (V2X) is the key technology of the future intelligent transportation system. V2X mainly includes vehicle-to-vehicle (V2V) communication, vehicle-to-infrastructure (V2I) communication, vehicle-to-people (V2P) communication, V2N vehicle to cloud (vehicle to network, V2N) ) Communication. V2X technology is a technology in which the vehicle perceives and communicates with the vehicles, people, and objects around the vehicle through on-board sensors and wireless communication technology, and analyzes and makes decisions based on the acquired information.

In the existing vehicle perception technology, high-precision maps are usually used to assist vehicle sensors to perceive the surrounding environment of the vehicle, thereby improving the ability of the vehicle to perceive the surrounding environment. In addition, in the prior art, the result of vehicle detection can also be uploaded to a network device. The network device can update the current map according to the detection result. However, the data recorded by high-precision maps are often static or semi-dynamic road structured data. When perceiving the environment around the vehicle based on the above solution, it is difficult to accurately identify and perceive dynamic scenes. On the other hand, when a crowdsourcing scheme is used to update the map, a certain number of vehicles need to update the current map after encountering the corresponding road condition information, and there is also a large delay in the update time.

Summary of the invention

The present application provides a method, device and system for vehicle perception to improve the ability of the vehicle to perceive the surrounding environment.

In the first aspect, a method for vehicle perception is provided, and the method includes:

The network device obtains road environment information, the road environment information includes road change information and time-space information corresponding to the road change information, and the road change information includes one or more of the following information: obstacle information, road dynamic change information, and time-space information. The information includes one or more of the following: the time corresponding to the road change information, and the area corresponding to the road change information;

The network device obtains a first map, where the first map is a map obtained after the current map is updated based on the road environment information;

Optionally, in some embodiments, the current map is a high-precision map. On the one hand, a high-precision map may refer to a high-precision and finely defined map, which includes data such as road network data, lane network data, lane lines, and traffic signs of traditional maps. On the other hand, a high-resolution map is also called a high definition map (HD Map), which is a map dedicated to unmanned driving. Unlike traditional navigation maps, high-precision maps can provide lane-level navigation information in addition to road-level navigation information. Both the richness of information and the accuracy of information are far higher than traditional navigation maps.

The network device sends the first map to the first vehicle.

Based on the above solution, in the vehicle perception method provided in this application, the network device can update the current map according to the road change information of the road where the vehicle is located and the time-space information corresponding to the road change information, and obtain the first map, thereby improving the efficiency of updating the map. , Reduce the update delay. In addition, the vehicle can perceive the surrounding environment according to the first map, which can improve the vehicle’s perception ability in different application scenarios.

With reference to the first aspect, in some implementation manners of the first aspect, the network device acquiring the first map includes:

In the case that the space-time information meets preset conditions, the network device obtains the first map according to the road environment information; or,

In the case that the spatiotemporal information does not meet the preset condition, the network device receives the first map sent from the map server.

With reference to the first aspect, in some implementation manners of the first aspect, the method further includes:

In the case that the space-time information does not meet the preset condition, the network device does not obtain the first map.

With reference to the first aspect, in some implementation manners of the first aspect, the preset condition includes a preset time and/or a preset area.

With reference to the first aspect, in some implementations of the first aspect, the road change information further includes vehicle pose change information.

In a second aspect, a method for vehicle perception is provided, the method including:

The first vehicle receives a first map sent from a network device. The first map is a map obtained after the current map is updated based on road environment information. The road environment information includes road change information and time-space information corresponding to the road change information. The change information includes one or more of the following information: obstacle information, road dynamic change information, and the spatiotemporal information includes one or more of the following: the time corresponding to the road change information, and the area corresponding to the road change information;

The first vehicle determines the regulatory action of the first vehicle according to the first map.

With reference to the second aspect, in some implementations of the second aspect, the road change information further includes vehicle pose change information.

In a third aspect, a vehicle sensing device is provided, and the device includes:

The transceiver unit is used to obtain road environment information. The road environment information includes road change information and time-space information corresponding to the road change information. The road change information includes one or more of the following information: obstacle information, road dynamic change information , The spatio-temporal information includes one or more of the following information: the time corresponding to the road change information, and the area corresponding to the road change information;

A processing unit, configured to obtain a first map, which is a map obtained after the current map is updated based on the road environment information;

The transceiver unit is also used to send the first map to the first vehicle;

With reference to the third aspect, in some implementation manners of the third aspect, the processing unit is further used for:

With reference to the third aspect, in some implementation manners of the third aspect, the preset condition includes a preset time and/or a preset area.

With reference to the third aspect, in some implementation manners of the third aspect, the road change information further includes vehicle pose change information.

In a fourth aspect, a vehicle sensing device is provided, which includes:

The transceiver unit is configured to receive a first map sent from a network device. The first map is a map obtained after the current map is updated based on road environment information. The road environment information includes road change information and time-space information corresponding to the road change information, The road change information includes one or more of the following information: obstacle information, road dynamic change information, and the spatiotemporal information includes one or more of the following: the time corresponding to the road change information, and the area corresponding to the road change information;

A processing unit, configured to determine the regulatory action of the first vehicle according to the first map;

With reference to the fourth aspect, in some implementation manners of the fourth aspect, the road change information further includes vehicle pose change information.

In a fifth aspect, a network device is provided, and the device includes a memory and a processor,

The memory is used to store instructions, and the processor is used to read instructions stored in the memory, so that the device executes the foregoing first aspect and the method in any possible implementation manner of the first aspect.

In a sixth aspect, a network device is provided. The device includes a memory and a processor, the memory is used to store instructions, and the processor is used to read the instructions stored in the memory so that the device executes the second aspect and the second The method in any possible implementation of the aspect.

Optionally, there are one or more processors, and one or more memories.

Optionally, the memory and the processor are integrated together, or the memory and the processor are provided separately.

In the specific implementation process, the memory can be a non-transitory (non-transitory) memory, such as a read only memory (ROM), which can be integrated with the processor on the same chip, or can be set in different On the chip, the embodiment of the present application does not limit the type of the memory and the setting mode of the memory and the processor.

In a seventh aspect, a computer-readable storage medium is provided for storing a computer program. The computer program includes any of the first and/or second aspects and the first and/or second aspects described above. The instructions for the methods in the possible implementations.

In an eighth aspect, a computer program product containing instructions is provided, which, when run on a computer, enables the computer to execute the first aspect and/or the second aspect and any of the foregoing first and/or second aspects. The method in the implementation.

In a ninth aspect, a chip is provided, including at least one processor and an interface; the at least one processor is configured to call and run a computer program, so that the chip executes the first aspect and/or the second aspect. Aspects and methods in any possible implementation of the above-mentioned first aspect and/or second aspect.

In a tenth aspect, a system is provided, which includes the aforementioned network device, a map server, and a first vehicle.

Description of the drawings

FIG. 1 is a schematic diagram of an application scenario 100 of a technical solution provided by an embodiment of the present application.

FIG. 2 is a schematic flowchart of a vehicle sensing method 200 provided by an embodiment of the present application.

FIG. 3 is a schematic flowchart of a method 300 for vehicle perception according to an embodiment of the present application.

FIG. 4 is a schematic flowchart of a method 400 for vehicle perception according to an embodiment of the present application.

Fig. 5 is a schematic diagram of an application scenario of a method for vehicle perception provided by an embodiment of the present application.

Fig. 6 is a schematic diagram of an application scenario of a method for vehicle perception provided by an embodiment of the present application.

FIG. 7 is a schematic structural diagram of a vehicle sensing device 700 provided by an embodiment of the present application.

FIG. 8 is a schematic structural diagram of a vehicle sensing device 800 provided by an embodiment of the present application.

FIG. 9 is a schematic structural diagram of a vehicle sensing device 900 provided by an embodiment of the present application.

FIG. 10 is a schematic structural diagram of a vehicle sensing device 1000 provided by an embodiment of the present application.

Detailed ways

The technical solution in this application will be described below in conjunction with the accompanying drawings.

The technical solution provided in this application can be applied to a device to device (D2D) scenario, and optionally, can be applied to a vehicle to everything (V2X) scenario. Exemplarily, the V2X scenario may specifically be any of the following systems: vehicle-to-vehicle (V2V), vehicle-to-pedestrian (V2P), vehicle-to-network (V2N) business Communication with vehicles and infrastructure (V2I), etc.

Exemplarily, D2D may be long term evolution (LTE) D2D, new radio (NR) D2D, and may also be D2D in other communication systems that may appear with the development of technology. Similarly, V2X can be LTE V2X, NR V2X, and can also be V2X in other communication systems that may emerge with the development of technology.

In the embodiment of the present application, the network device may be any device that has a wireless transceiver function. The network equipment includes, but is not limited to: roadside units (RSU), smart vehicles, evolved Node B (evolved Node B, eNB), radio network controller (RNC), Node B (Node B) B, NB), base station controller (BSC), base transceiver station (base transceiver station, BTS), home base station (for example, home evolved NodeB, or home Node B, HNB), baseband unit (baseband unit, BBU), the access point (AP), wireless relay node, wireless backhaul node, transmission point (TP), or transmission and reception point in the wireless fidelity (WiFi) system Reception point, TRP), etc., can also be 5G, such as NR, gNB in the system, or transmission point (TRP or TP), one or a group (including multiple antenna panels) antenna panel of the base station in the 5G system Or, it may also be a network node constituting a gNB or a transmission point, such as a baseband unit (BBU), or a distributed unit (DU).

In some deployments, the gNB may include a centralized unit (CU) and a DU. The gNB may also include an active antenna unit (AAU). CU implements some functions of gNB, and DU implements some functions of gNB. For example, CU is responsible for processing non-real-time protocols and services, implementing radio resource control (RRC), and packet data convergence protocol (PDCP) The function of the layer. The DU is responsible for processing the physical layer protocol and real-time services, and realizes the functions of the radio link control (RLC) layer, the media access control (MAC) layer, and the physical (PHY) layer. AAU realizes some physical layer processing functions, radio frequency processing and related functions of active antennas. Since the information of the RRC layer will eventually become the information of the PHY layer, or be transformed from the information of the PHY layer, under this architecture, high-level signaling, such as RRC layer signaling, can also be considered to be sent by the DU , Or, sent by DU+AAU. It can be understood that the network device may be a device that includes one or more of a CU node, a DU node, and an AAU node. In addition, the CU can be divided into network equipment in the access network (radio access network, RAN), and the CU can also be divided into network equipment in the core network (core network, CN), which is not limited in the embodiment of this application. .

In the embodiment of the present application, the first vehicle may be an in-vehicle device, a vehicle with a communication function, or the like. The embodiment of the application does not limit this. The first vehicle may also be an in-vehicle module, an in-vehicle module, an in-vehicle component, an in-vehicle chip, or an in-vehicle unit built into the vehicle as one or more components or units. , On-board chip or on-board unit can implement the method of this application.

In the embodiments of the present application, all "greater than" can be replaced with "greater than or equal to"; all "less than" can be replaced with "less than or equal to".

FIG. 1 shows a schematic diagram of an application scenario 100 of the technical solution provided by an embodiment of the present application.

As shown in FIG. 1, the application scenario 100 may include at least one network device 111, one terminal device 112, and another terminal device 113.

In FIG. 1, the network device 111 can communicate with the terminal device 112 and the terminal device 113, and the terminal device 112 and the terminal device 113 can also communicate with each other. For example, the network device 111, the terminal device 112, and the terminal device 113 may use the spectrum of the cellular link when communicating. Alternatively, the intelligent transportation spectrum near 5.9 GHz can also be used for communication. In addition, the technology for each device to communicate with each other can be enhanced based on the LTE protocol, or it can be enhanced based on the D2D technology.

It should be understood that FIG. 1 is only for ease of understanding, and schematically shows a network device 111, a terminal device 112, and a terminal device 113, but this should not constitute any limitation to the present application. For example, in different application scenarios, a larger number of network devices may be included, or a larger number of terminal devices may be included, which is not limited in this application.

As another application scenario of the embodiment of the present application, the application scenario in FIG. 1 may also include one or more map servers. The map server can communicate with any one of the network device 111, the terminal device 112, and the terminal device 113. The map server can provide dynamic information of the current road for the devices communicating with it.

In the existing vehicle perception technology, high-precision maps are usually used to assist vehicle sensors to perceive the surrounding environment of the vehicle, thereby improving the ability of the vehicle to perceive the surrounding environment. In addition, in the prior art, the result of vehicle detection can also be uploaded to a network device. The network device can update the current map according to the detection result.

Since the data recorded by the high-precision map is generally static or semi-dynamic road structured data, it is difficult to accurately identify and perceive dynamic scenes when perceiving the environment around the vehicle based on the above solution. On the other hand, when a crowdsourcing scheme is used to update the map, a certain number of vehicles need to update the current map after encountering the corresponding road condition information, and there is also a large delay in the update time.

In order to solve the above-mentioned problems, this application proposes a method of vehicle perception, which can improve the ability of the vehicle to perceive the surrounding environment. Hereinafter, the vehicle sensing method provided by the embodiments of the present application will be described in detail with reference to FIGS. 2 to 6.

FIG. 2 shows a schematic flowchart of a method 200 for vehicle perception provided by the present application. The method 200 in FIG. 2 includes steps S210 to S230, and these steps are described in detail below.

S210: The network device obtains road environment information.

In an achievable manner, the network device obtains road environment information, which can be understood as the network device obtains the road environment information after sensing the road environment information.

In another achievable manner, the network device obtains the road environment information, which can be understood as that after the vehicle perceives the road environment information, the vehicle sends the road environment information to the network device. In this case, the network device can obtain the road environment information.

Wherein, the road environment information includes road change information and time-space information corresponding to the road change information, the road change information includes one or more of the following information: obstacle information, road dynamic change information, and the time-space information includes one of the following Or multiple: the time corresponding to the road change information, and the area corresponding to the road change information.

The spatio-temporal information corresponding to the road change information can be understood as the time corresponding to when the information on the road changes, or the area corresponding to the change information when the information on the road changes.

Exemplarily, on road A, an abnormal obstacle appears at time T. In this case, the time-space information corresponding to the road change information is time T. In other words, the corresponding time when the information on the road changes is time T.

Exemplarily, an abnormal obstacle appears in area 1 of road A. In this case, the spatio-temporal information corresponding to the road change information is area 1. In other words, when the information on the road changes, the area corresponding to the change information is area 1.

Optionally, in some embodiments, the road change information further includes vehicle pose change information.

In the embodiments of the present application, the obstacle information is not specifically limited.

For example, the obstacle information may be falling rocks. For another example, the obstacle information may be potholes. For another example, the obstacle information may be sudden obstacles. For another example, the obstacle information may be abnormal weather.

In the embodiments of the present application, the vehicle pose change information is not specifically limited.

For example, the posture change information of the vehicle may be turning information of the vehicle in a curve. For another example, the vehicle pose change information may also be the avoidance action information of the vehicle when there is an obstacle. For another example, the vehicle pose change information may also be collision information of a severe collision of the vehicle.

In the embodiment of the present application, the vehicle can obtain obstacle information, vehicle pose change information, and road dynamic change information through sensors installed on the vehicle.

For example, vehicle #1 can obtain obstacle information, vehicle pose change information, and road dynamic change information through a camera installed on the vehicle. For another example, vehicle #1 can obtain obstacle information, vehicle pose change information, and road dynamic change information through a millimeter wave radar installed on the vehicle. For another example, vehicle #1 can obtain obstacle information, vehicle pose change information, and road dynamic change information through the lidar installed on the vehicle.

In the embodiments of the present application, the road dynamic change information is not specifically limited. For example, the road dynamic change information may be that the driving vehicles on the road stop running. For another example, the dynamic change information of the road can be used for moving pedestrians in front of the driving vehicle.

S220: The network device obtains the first map.

In the embodiment of the present application, the first map is a map obtained after the current map is updated based on road environment information. In other words, the map obtained by the network device after updating the current map according to the road environment information is the first map. Among them, the current map can be understood as the map corresponding to the road where the vehicle is located.

Specifically, the map obtained after the network device updates the current map according to the road environment information is the first map. It can be understood that the network device updates the layers of the current map according to the temporal and spatial information and road change information corresponding to the road change information. Get the first map.

For example, suppose the current map includes four layers, the first layer is the road static high-precision map information layer, the second layer is the road state information, the third layer is the road dynamic environment information layer, and the fourth layer is the road traffic state information Floor. For example, when the fused vehicle environment information is road state information (for example, there are obstacles), the information can be added to the second layer of the current map, so as to obtain the first map. For another example, when the information included in the fused vehicle environment information is road dynamic environment information (for example, there are sudden obstacles), the information can be added to the third layer of the current map, so as to obtain the first map. For another example, when the fused vehicle environment information includes road state information (for example, obstacles) and road traffic state information (for example, traffic jams occur), and road state information can be added to the second layer of the current map, The road traffic state information is added to the fourth layer of the current map to obtain the first map.

In the embodiments of the present application, the type of the current map is not specifically limited. For example, the current map may be a normal navigation map. For another example, the current map may also be a high-precision map.

Exemplarily, a high-precision map may refer to a high-precision, finely defined map, which includes data such as road network data, lane network data, lane lines, and traffic signs of traditional maps.

Exemplarily, a high-definition map is also called a high-definition map (HD Map), which is a map dedicated to unmanned driving services. Unlike traditional navigation maps, high-precision maps can provide lane-level navigation information in addition to road-level navigation information. Both the richness of information and the accuracy of information are much higher than ordinary navigation maps.

In this embodiment of the application, acquiring the first map by the network device includes:

In the case that the spatio-temporal information meets the preset condition, the network device obtains the first map according to the road environment information; or, in the case that the spatio-temporal information does not meet the preset condition, the network device receives the transmission from the map server Of this first map.

In the embodiment of the present application, the preset condition includes a preset time and/or a preset area.

In an achievable way, the preset conditions are related to specific application scenarios. For example, in a scene where there are abnormal obstacles on the road, the range of the preset area can be set to 150 meters. For another example, in a scene where the weather is abnormal, the preset time can be set to 6:00-10:00. For another example, in a scenario where the weather is abnormal, the range of the preset time can be set to 6:00-10:00, and the range of the preset area is 300 meters.

In another achievable way, the preset condition is a fixed value. For example, in a scene where there are abnormal obstacles on the road, or in a scene where the weather is abnormal, the range of the preset area is set to 100 meters. For another example, in a scene where there are abnormal obstacles on the road, or in a scene where the weather is abnormal, the range of the preset time is set to be 7:00-10:00.

In the embodiment of the present application, when the time-space information meets the preset condition, the network device obtains the first map according to the road environment information, including the following three situations:

Case 1: When the time corresponding to the road change information meets the preset time, the network device updates the current map according to the road environment information to obtain the first map.

Exemplarily, assuming that the preset time is 7:00-9:00, the time corresponding to the road change information is 8:00, and an abnormal object appears on the road A at the time corresponding to the road change information. In this case, the network device updates the current map according to the information of the abnormal object and the time when the abnormal object appears in the road A to obtain the first map.

Case 2: When the area corresponding to the road change information satisfies the preset area, the network device updates the current map according to the road environment information to obtain the first map.

For example, suppose that the preset area is an area within a range of 50 meters to 200 meters in front of vehicle 1 on road A, and the area corresponding to the road change information is 100 meters in front of vehicle 1 on road A, and the content of this area appears An obstacle. In this case, the network device updates the current map according to the obstacle information and the area where the obstacle appears to obtain the first map.

Case 3: When the area corresponding to the road change information meets the preset area, and the time corresponding to the road change information meets the preset time, the network device updates the current map according to the road change information to obtain the first map.

Exemplarily, suppose that the preset area is an area within a range of 50-200 meters in front of the vehicle 1 on road A, and the preset time is 7:00-9:00. An obstacle appears on the road A, and the area where the obstacle appears is 100 meters in front of the vehicle 1 on the road A, and the time when the obstacle appears is 8:00. In this case, the network device updates the current map according to the obstacle information and the time and area where the obstacle appears to obtain the first map.

In the embodiment of the present application, in the case that the spatio-temporal information does not meet the preset condition, the network device receives the first map sent from the map server. Specifically, when the time-space information does not meet the preset conditions, the network device sends road environment information to the map server. The map server updates the current map according to the road environment information to obtain the first map, and the map server sends the road environment information to the network device. The first map. In this case, the network device can receive the first map sent from the map server.

Exemplarily, suppose that the preset area is an area within a range of 50-200 meters in front of the vehicle 1 on road A, and the preset time is 7:00-9:00. An obstacle appears on road A, and the area where the obstacle appears is 240 meters in front of vehicle 1 on road A, and the obstacle appears at 10:00. In this case, the map server updates the current map according to the obstacle information and the time and area where the obstacle appears to obtain the first map. The map server sends the first map to the network device, and the network device can obtain the first map.

Optionally, in some embodiments, when the spatio-temporal information does not meet a preset condition, the network device may not obtain the first map.

Exemplarily, in an application scenario that only includes the network device and the first vehicle, the network device does not acquire the first map when the spatiotemporal information does not meet the preset condition. In this case, although the road environment information has changed, since the changed information disappears in a relatively short period of time, the network device may not update the current map.

S230: The network device sends the first map to the first vehicle.

Based on the above solution, in the vehicle perception method provided in this application, the network device can update the current map according to the road change information of the road where the vehicle is located and the time-space information corresponding to the road change information, and obtain the first map, thereby improving the efficiency of updating the map. , Reduce the update delay. In addition, the vehicle perceives the surrounding environment according to the received updated map (first map), which can improve the vehicle's perception ability in different application scenarios.

In the following, with reference to FIG. 3, an application scenario including obstacle information, vehicle #1, vehicle #2, and network equipment is taken as an example to introduce the vehicle perception method 200 provided in the present application.

FIG. 3 shows a schematic flowchart of a method 300 for vehicle perception according to an embodiment of the present application. The method 300 in FIG. 3 includes steps S310 to S380, and these steps are described below.

In step S310, the vehicle #1 obtains the road environment information #1 (ie, an example of the road environment information in the method 200).

Wherein, road environment information #1 includes road change information and time-space information corresponding to the road change information.

The road change information includes one or more of the following information: obstacle information and road dynamic change information.

Step S320, the network device obtains road change information #1.

In the embodiment of the present application, the execution sequence of S310 and S320 is not specifically limited. For example, step S310 may be executed first, and then step S320 may be executed. Alternatively, step S320 may be performed first, and then step S310 is performed.

Optionally, in some embodiments, the method 300 may not include step S320. In this case, after step S310 is executed, step S330 is executed.

Step S330: Vehicle #1 sends road environment information #1 to the network device.

In step S340, the network device obtains map #1 (ie, an example of the first map in the method 200).

Wherein, the spatio-temporal information includes one or more of the following: the time corresponding to the road change information, and the area corresponding to the road change information.

In the embodiment of the present application, the method for the network device to obtain the map #1 is the same as the method of step S220, and for the sake of brevity, details are not repeated here.

In an achievable manner, after the network device obtains map #1, in this case, after step S340, continue to execute step S350 to step S380.

In another achievable manner, the network device does not acquire map #1. In this case, after step S340, step S350 to step S380 are not executed.

In step S350, the network device sends the map #1 to the vehicle #1.

Optionally, in some embodiments, the network device sends the map #1 to the vehicle #1 at a certain time and/or within a certain area.

In step S360, the network device sends the map #1 to the vehicle #2.

Optionally, in some embodiments, the network device sends the map #1 to the vehicle #2 at a certain time and/or within a certain time.

In the embodiment of the present application, the certain time and/or certain area in step S361 and step S362 are not specifically limited.

In an achievable manner, a certain time and/or a certain area is related to a specific application scenario. For example, in a scene where there are abnormal obstacles on the road, the range of the area can be set to 200 meters. For another example, in a scenario where the weather is abnormal, the specific time can be 7:00-9:00.

In another achievable manner, a certain time and/or a certain area may also be a predefined value. For example, the area can be predefined as 400 meters. For another example, the pre-defined time can be 6:00-8:00, or 18:00-19:30.

In the embodiment of the present application, the execution sequence of S361 and S362 is not specifically limited. For example, step S361 can be performed first, and then step S362 is performed. Alternatively, step S362 can be performed first, and then step S361 is performed.

In step S370, the vehicle #2 (ie, an example of the first vehicle in the method 200) determines the obstacle information according to the perception ability of the vehicle #2 and the map #1.

Wherein, the obstacle information may be a stationary object, for example, a stone in a road. The obstacle information may also be a moving object, for example, a vehicle traveling on a road.

Exemplarily, the vehicle #2 determines that the obstacle is a moving pedestrian based on the perception ability of the vehicle #2 and the map #1.

Exemplarily, the vehicle #2 determines that the obstacle is a stationary vehicle based on the perception ability of the vehicle #2 and the map #1.

In step S380, the vehicle #2 determines a regulatory action based on the obstacle information.

For example, vehicle #2 is traveling at a low speed based on obstacle information. Or, vehicle #2 performs emergency braking based on the obstacle information.

In the vehicle sensing method provided by the embodiments of the present application, the network device updates the current map according to obstacle information that appears in a specific time and/or a specific area, which can improve the efficiency of updating the map and reduce the update delay. In addition, the vehicle perceives the surrounding environment according to the received updated current map, which can improve the vehicle’s perception ability in different application scenarios.

In the following, with reference to FIG. 4, an application scenario including obstacle information, current vehicle, target vehicle, network device, and map server is taken as an example to introduce the vehicle perception method 200 provided in the present application.

FIG. 4 shows a schematic flowchart of a method 400 for vehicle perception according to an embodiment of the present application.

As shown in FIG. 4, the method 400 includes steps S410 to S480, and these steps are described below.

In step S410, the vehicle #1 obtains the road environment information #1 (ie, an example of the road environment information in the method 200).

Step S420: The network device obtains road change information #1.

Wherein, road change information #1 includes one or more of the following information: obstacle information and road dynamic change information.

It should be understood that, in the embodiment of the present application, the execution order of step S410 and step S420 is not specifically limited. For example, step S410 may be executed first, and then step S420 may be executed. Alternatively, step S420 may be executed first, and then step S410 may be executed.

Optionally, in this embodiment of the present application, step S420 may not be included. In this case, after step S410 is executed, step S430 is executed.

Step S430: Vehicle #1 sends road environment information #1 to the network device.

In step S440, the network device obtains map #1 (ie, an example of the first map in the method 200).

In an achievable manner, after the network device obtains map #1, in this case, after step S440, continue to execute step S450 to step S480.

In another achievable manner, the network device does not acquire map #1. In this case, after step S440, step S490 to step S494, step S470, and step S480 are executed.

In step S450, the network device sends the map #1 to the vehicle #1.

Step S460, the network device sends the map #1 to the vehicle #2.

In step S470, the vehicle #2 (ie, an example of the first vehicle in the method 200) determines the obstacle information according to the perception ability of the vehicle #2 and the map #1.

In step S480, the vehicle #2 determines a regulatory action based on the obstacle information.

Step S490: The network device sends road environment information #1 to the map server.

Step S491: The map server updates the current map according to road environment information #1.

Wherein, the method of step S491 is the same as the method of step S220, and for the sake of brevity, details are not repeated here.

Step S492: The map server sends map #1 to the network device.

Optionally, in some embodiments, the map server sends map #1 to the network device at a certain time and/or within a certain area.

In step S493, the map server sends the map #1 to the vehicle #1.

Optionally, in some embodiments, the map server sends the map #1 to the vehicle #1 at a certain time and/or within a certain area.

In step S494, the map server sends the map #1 to the vehicle #2.

Optionally, in some embodiments, the map server sends the map #1 to the vehicle #2 at a certain time and/or within a certain area.

In the vehicle perception method provided by the embodiments of the present application, the map server updates the current map according to obstacle information that appears in a specific time and/or a specific area, which can improve the efficiency of updating the map and reduce the update delay. In addition, the vehicle perceives the surrounding environment according to the received updated current map, which can improve the vehicle’s perception ability in different application scenarios.

Hereinafter, the method 300 for vehicle perception provided by the present application will be introduced in conjunction with the application scenarios of FIG. 5 and FIG. 6. It should be understood that FIG. 5 and FIG. 6 are only illustrations, and do not constitute any limitation to the present application. Similarly, the scenarios shown in FIG. 5 and FIG. 6 are also applicable to the vehicle perception method 400 provided in this application.

Hereinafter, in conjunction with FIG. 5, the vehicle sensing method 300 provided in the present application is introduced with the target to be sensed being occluded as a scene.

Fig. 5 shows a schematic diagram of an application scenario of a method for vehicle perception provided by an embodiment of the present application. As shown in Figure 5, the application scenario includes: network equipment, vehicle V1, vehicle V2, target, vehicle V4, and vehicle V5.

Among them, the target can be a pedestrian, a vehicle, an object that suddenly appears, or a scene with an abnormal road. Among them, the abnormal road scene may be caused by abnormal weather, for example, the abnormal weather may be heavy fog, heavy haze, heavy rain, road icing, and so on.

In the current road environment, when the target stops moving or is blocked by the vehicle V2, the vehicle V1 cannot perceive the target according to the sensors installed on the vehicle V1. According to the method for vehicle perception provided by the present application, in the case that the vehicle V2 detects a target, and the time and/or the appearing area of the target on the current road meet the preset conditions. In this case, the vehicle V2 can send the target information to the network device. The network device updates the map corresponding to the current road according to the target information, and sends the updated map to the vehicle V1. In this case, the vehicle V1 can learn the information of the target based on the updated map information and its own perception ability, so that it can make better planning and decision-making and ensure driving safety.

Optionally, in some embodiments, the change of the target on the road can also be sensed through the network device.

Optionally, in some embodiments, in combination with the distance information between the vehicle V1 and the target, when the vehicle V1 has exceeded the target, the information about the target on the updated map may be deleted.

Optionally, in some embodiments, the information about the target on the updated map may be deleted after a preset period of time.

The vehicle sensing method provided in the embodiments of the present application can improve the vehicle's ability to perceive an obscured target, thereby ensuring the safety of driving.

Hereinafter, in conjunction with FIG. 6, taking the object to be sensed exceeds the sensing range of the vehicle as an example, the vehicle sensing method 300 provided in the present application is introduced.

As shown in Figure 6, the application scenario includes: network equipment, vehicle V1, vehicle V2, vehicle V3, and target.

In the current road environment, since the target is outside the visual range of the vehicle V1, the vehicle V1 cannot perceive the target according to the sensors installed on the vehicle V1. According to the vehicle perception method provided by the present application, in the case that the vehicle V2 detects the target, and the time and/or the appearing area of the target on the current road meet the preset conditions. In this case, the vehicle V2 can send the target information to the network device. The network device updates the map of the current road according to the target information and the time-space information corresponding to the target information, and sends the updated map to the vehicle V1. In this case, the vehicle V1 can learn the information of the target based on the updated map and its own perception ability, so that it can make better planning and decision-making and ensure driving safety.

Optionally, in some embodiments, a network device may also be used to perceive a target on the road.

Optionally, in some embodiments, the information about obstacles on the updated map may be deleted after a preset period of time.

The vehicle perception method provided in the embodiments of the present application can expand the scope of vehicle perception, further improve the ability of vehicle perception, and thereby ensure the safety of driving.

The vehicle perception method provided by the present application is described in detail above with reference to FIGS. 2 to 6. The device and equipment for vehicle perception will be described in detail below with reference to FIGS. 7 to 10.

FIG. 7 shows a schematic structural diagram of a vehicle sensing device 700 provided by an embodiment of the present application.

The vehicle sensing device 700 includes: a transceiver unit 710 and a processing unit 720. Wherein, the transceiver unit 710 and the processing unit 720 communicate with each other through an internal connection path, and transfer control and/or data signals.

The transceiver unit 710 is configured to obtain road environment information, the road environment information including road change information and time-space information corresponding to the road change information, and the road change information includes one or more of the following information: obstacle information, road dynamic changes Information, the spatio-temporal information includes one or more of the following information: the time corresponding to the road change information, and the area corresponding to the road change information;

The processing unit 720 is configured to obtain a first map, which is a map obtained after the current map is updated based on the road environment information;

The transceiver unit is also used to send the first map to the first vehicle.

Optionally, in some embodiments, the processing unit 720 is further configured to:

Optionally, in some embodiments, the preset condition includes a preset time and/or a preset area.

FIG. 8 shows a schematic structural diagram of a vehicle sensing device 800 provided by an embodiment of the present application.

The vehicle sensing device 800 includes: a transceiver unit 810 and a processing unit 820. Wherein, the transceiver unit 810 and the processing unit 820 communicate with each other through an internal connection path, and transfer control and/or data signals.

The transceiver unit 810 is configured to receive a first map sent from a network device. The first map is a map obtained after the current map is updated based on road environment information. The road environment information includes road change information and time-space information corresponding to the road change information. The road change information includes one or more of the following information: obstacle information, road dynamic change information, and the spatiotemporal information includes one or more of the following: the time corresponding to the road change information, and the area corresponding to the road change information;

The processing unit 820 is configured to determine the regulatory action of the first vehicle according to the first map.

FIG. 9 shows a schematic structural diagram of a vehicle sensing device 900 provided by an embodiment of the present application.

The vehicle sensing device 900 includes: a transceiver 910, a processor 920, and a memory 930. Among them, the transceiver 910, the processor 920 and the memory 930 communicate with each other through internal connection paths to transfer control and/or data signals. The memory 930 is used to store computer programs, and the processor 910 is used to call from the memory 930. And run the computer program to control the transceiver 920 to send and receive signals.

The transceiver 910 is used to obtain road environment information. The road environment information includes road change information and time-space information corresponding to the road change information. The road change information includes one or more of the following information: obstacle information, road dynamic changes Information, the spatio-temporal information includes one or more of the following information: the time corresponding to the road change information, and the area corresponding to the road change information;

The processor 920 is configured to obtain a first map, where the first map is a map obtained after the current map is updated based on the road environment information;

The transceiver 910 is also used to send the first map to the first vehicle.

Optionally, in some embodiments, the processor 920 is further configured to:

FIG. 10 shows a schematic structural diagram of a vehicle sensing device 1000 provided by an embodiment of the present application.

The vehicle sensing device 1000 includes: a transceiver 1010, a processor 1020, and a memory 1030. Among them, the transceiver 1010, the processor 1020, and the memory 1030 communicate with each other through internal connection paths to transfer control and/or data signals. The memory 1030 is used to store computer programs, and the processor 1010 is used to call from the memory 1030. And run the computer program to control the transceiver 1020 to send and receive signals.

The transceiver 1010 is configured to receive a first map sent from a network device. The first map is a map obtained after the current map is updated based on road environment information. The road environment information includes road change information and time-space information corresponding to the road change information The road change information includes one or more of the following information: obstacle information, road dynamic change information, and the spatiotemporal information includes one or more of the following: the time corresponding to the road change information, and the area corresponding to the road change information;

The processor 1020 is configured to determine the regulatory action of the first vehicle according to the first map.

A person of ordinary skill in the art may realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be implemented by electronic hardware or a combination of computer software and electronic hardware. Whether these functions are executed by hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians can use different methods for each specific application to implement the described functions, but such implementation should not be considered beyond the scope of this application.

Those skilled in the art can clearly understand that, for the convenience and conciseness of description, the specific working process of the system, device and unit described above can refer to the corresponding process in the foregoing method embodiment, which will not be repeated here.

In the several embodiments provided in this application, it should be understood that the disclosed system, device, and method can be implemented in other ways. For example, the device embodiments described above are merely illustrative, for example, the division of the units is only a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components may be combined or It can be integrated into another system, or some features can be ignored or not implemented. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.

In addition, the functional units in the various embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit.

If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on this understanding, the technical solution of the present application essentially or the part that contributes to the existing technology or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program code .

The above are only specific implementations of this application, but the protection scope of this application is not limited to this. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed in this application. Should be covered within the scope of protection of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Claims

A method for vehicle perception, characterized in that the method includes:

The network device obtains road environment information, the road environment information includes road change information and time-space information corresponding to the road change information, and the road change information includes one or more of the following information: obstacle information, road dynamic change information , The spatio-temporal information includes one or more of the following: the time corresponding to the road change information, and the area corresponding to the road change information;

Acquiring, by the network device, a first map, where the first map is a map obtained after the current map is updated based on the road environment information;

The network device sends the first map to the first vehicle.
The method according to claim 1, wherein the obtaining the first map by the network device comprises:

In the case that the spatio-temporal information satisfies a preset condition, the network device obtains the first map according to the road environment information; or,

In a case where the spatiotemporal information does not meet a preset condition, the network device receives the first map sent from a map server.
The method according to claim 1, wherein the method further comprises:

In a case where the spatiotemporal information does not meet a preset condition, the network device does not acquire the first map.
The method according to claim 2 or 3, wherein the preset condition includes a preset time and/or a preset area.
The method according to any one of claims 1 to 4, wherein the road change information further includes vehicle pose change information.
A method for vehicle perception, characterized in that the method includes:

The first vehicle receives a first map sent from a network device, the first map being a map obtained after the current map is updated based on road environment information, and the road environment information includes road change information and time-space information corresponding to the road change information The road change information includes one or more of the following information: obstacle information, road dynamic change information, and the spatio-temporal information includes one or more of the following: the time corresponding to the road change information, and the area corresponding to the road change information ；

The first vehicle determines the regulatory action of the first vehicle according to the first map.
The method according to claim 6, wherein the road change information further includes vehicle pose change information.
A device for vehicle perception, characterized in that the device comprises:

The transceiver unit is configured to obtain road environment information, the road environment information including road change information and time-space information corresponding to the road change information, and the road change information includes one or more of the following information: obstacle information, road Dynamic change information, where the spatio-temporal information includes one or more of the following information: the time corresponding to the road change information, and the area corresponding to the road change information;

A processing unit, configured to obtain a first map, where the first map is a map obtained after the current map is updated based on the road environment information;

The transceiver unit is also used to send the first map to the first vehicle.
The device according to claim 8, wherein the processing unit is further configured to:

In the case that the spatio-temporal information satisfies a preset condition, the network device obtains the first map according to the road environment information; or,

In a case where the spatiotemporal information does not meet a preset condition, the network device receives the first map sent from a map server.
The device according to claim 8, wherein the processing unit is further configured to:

In a case where the spatiotemporal information does not meet a preset condition, the network device does not acquire the first map.
The device according to claim 9 or 10, wherein the preset condition includes a preset time and/or a preset area.
The device according to any one of claims 8-11, wherein the road change information further comprises vehicle pose change information.
A device for vehicle perception, characterized in that the device comprises:

The transceiver unit is configured to receive a first map sent from a network device, the first map being a map obtained after the current map is updated based on road environment information, and the road environment information includes road change information and information corresponding to the road change information. Spatio-temporal information, the road change information includes one or more of the following information: obstacle information, road dynamic change information, and the spatio-temporal information includes one or more of the following: the time corresponding to the road change information, and the road change information corresponding Area;

The processing unit is configured to determine the regulatory action of the first vehicle according to the first map.
The device according to claim 13, wherein the road change information further includes vehicle pose change information.
A vehicle perception system, characterized in that the system comprises: the network device according to any one of claims 1 to 7, a map server, and a first vehicle,

The map server receives road environment information sent from the network device, the road environment information includes road change information and time-space information corresponding to the road change information, and the road change information includes one or more of the following information : Obstacle information and road dynamic change information, the spatiotemporal information includes one or more of the following information: the time corresponding to the road change information, and the area corresponding to the road change information;

Acquiring, by the map server, a first map, where the first map is a map obtained after the current map is updated based on the road environment information;

Sending the first map to the first vehicle by the map server;

The map server sends the first map to the network device.
A device for vehicle perception, comprising a processor and a memory, the memory is used to store instructions, and the processor is used to read the instructions stored in the memory to execute any one of claims 1 to 7 method.
A computer-readable storage medium comprising a computer program, and when the computer program runs on a computer, the computer executes the method according to any one of claims 1 to 7.