WO2023066080A1

WO2023066080A1 - Forward target determination method and apparatus, electronic device and storage medium

Info

Publication number: WO2023066080A1
Application number: PCT/CN2022/124551
Authority: WO
Inventors: 杨航; 祁旭; 曲白雪; 祝铭含; 白天晟
Original assignee: 中国第一汽车股份有限公司
Priority date: 2021-10-21
Filing date: 2022-10-11
Publication date: 2023-04-27
Also published as: CN113895449A; CN113895449B

Abstract

A forward target determination method and apparatus, an electronic device and a storage medium. The forward target determination method comprises: determining a potential target of a vehicle; determining, according to a forward target of the vehicle at a previous moment, whether the potential target is in a sudden change condition; in response to the potential target not being in the sudden change condition, using the forward target at the previous moment as a forward target at a current moment; and in response to the potential target being in the sudden change condition, determining the number of sudden change conditions within a preset time, and determining, according to the number of the sudden change conditions, whether to use the potential target as a forward target at the current moment.

Description

Method, device, electronic equipment and storage medium for determining a forward target

This application claims priority to a Chinese patent application with application number 202111226177.X filed with the China Patent Office on October 21, 2021, the entire contents of which are incorporated herein by reference.

technical field

The embodiments of the present application relate to the technical field of intelligent driving, for example, to a method, device, electronic device, and storage medium for determining a forward target.

Background technique

With the development of the self-driving car industry, more and more car factories have begun to develop and produce self-driving cars. Therefore, the accuracy of the self-driving car's forward target selection directly affects the safety factor of the self-driving car during driving.

In related technologies, the usual method for determining forward targets is as follows: for each potential target that may become a forward target, a forward target determination algorithm needs to be used to track on conditions such as lateral distance, longitudinal distance, lateral speed, and longitudinal speed. Although related technologies can deal with the impact of forward target mutations, they also increase the complexity of the algorithm and the amount of memory occupied, and will also lead to unstable forward target selection and false positives and false negatives of potential targets are also harmful to vehicle safety. certain influence.

Contents of the invention

Embodiments of the present application provide a forward target determination method, device, electronic equipment, and storage medium, which can reduce algorithm complexity and memory usage, and can also ensure the stability of forward target output.

In the first aspect, the embodiment of the present application provides a method for determining a forward target, the method includes:

Determining potential targets of the vehicle, where the potential targets refer to objects on the current road that affect the driving state of the vehicle;

Judging whether the potential target is a sudden change according to the forward target of the vehicle at the last moment;

Responding to the fact that the potential target is not a sudden change, using the forward target at the previous moment as the forward target at the current moment;

In response to the potential target being a sudden change, determining the number of times of the sudden change within a preset time period, and determining whether to use the potential target as a forward target at the current moment according to the number of sudden changes.

In the second aspect, the embodiment of the present application provides a device for determining a forward target, which includes:

A target determination module, configured to determine a potential target of the vehicle, where the potential target refers to an object on the current road that affects the driving state of the vehicle;

The status judging module is configured to judge whether the potential target is in a sudden change according to the forward target of the vehicle at the last moment;

The first determining module is configured to use the forward target at the previous moment as the forward target at the current moment in response to the potential target not being a sudden change;

The second determining module is configured to, in response to the potential target being a sudden change, determine the number of times of the sudden change within a preset time period, and determine whether to use the potential target as the forward direction of the current moment according to the number of sudden changes Target.

In a third aspect, an embodiment of the present application provides an electronic device, which includes:

at least one processor;

a storage device configured to store at least one program;

When the at least one program is executed by the at least one processor, the at least one processor is made to implement the method for determining the forward goal described in any embodiment of the present application.

In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the method for determining the forward goal described in any embodiment of the present application is implemented.

Description of drawings

FIG. 1 is a first schematic flowchart of a method for determining a forward target provided in an embodiment of the present application;

Fig. 2 is a schematic diagram of the forward target of the vehicle provided by the embodiment of the present application;

FIG. 3 is a second schematic flowchart of a method for determining a forward target provided in an embodiment of the present application;

FIG. 4 is a schematic diagram of another forward target of the vehicle provided by the embodiment of the present application;

FIG. 5 is a schematic structural diagram of a device for determining a forward target provided by an embodiment of the present application;

Fig. 6 is a block diagram of an electronic device used to implement a method for determining a forward goal according to an embodiment of the present application.

Detailed ways

Embodiment one

Fig. 1 is a schematic flow chart of a first method for determining a forward target provided by the embodiment of the present application, and Fig. 2 is a schematic diagram of the forward target of the vehicle provided by the embodiment of the present application; this embodiment can be applied to the potential target of the vehicle Filtering is performed to determine whether the potential target can be used as a forward target at the current moment. A method for determining a forward target provided in this embodiment can be performed by the device for determining a forward target provided in an embodiment of the present application. The device can be implemented in the form of software and/or hardware, and integrated into the electronic device that executes the method. in the device. Optionally, the electronic device in this embodiment of the present application may be a self-driving vehicle. Vehicles in this application refer to autonomous vehicles.

Referring to Fig. 1, the method of the present embodiment includes but not limited to the following steps:

S110. Determine potential targets of the vehicle.

Among them, the potential target refers to the object on the current road that affects the driving state of the self-driving vehicle, which can be a vehicle or a disturbance on the road (such as a manhole cover, a metal object). A forward target is a vehicle that is in front of the autonomous vehicle on the current road.

In the embodiment of the present application, under the condition of congestion or high speed, the self-driving vehicle (hereinafter referred to as "vehicle") needs to identify at least one object in front that affects the driving state of the vehicle, determine an object as a potential target, and judge the potential Whether the target is a forward target so that the vehicle adjusts its velocity and acceleration based on the forward target's position, velocity, and acceleration. As shown in FIG. 2 , it is a schematic diagram of the vehicle taking the vehicle in front closest to the vehicle as the forward target while driving in the lane.

Exemplarily, the process of determining the potential target of the vehicle is: respectively identifying objects in front of the vehicle through at least two sensors, and using the object closest to the vehicle as a potential target; wherein the at least two sensors include a visual sensor and a radar sensor.

In the embodiment of the present application, the potential target of the vehicle is one and the closest object to the vehicle. In the related art, there is more than one potential target of the vehicle, and every potential target that may become a forward target needs to be tracked. Therefore, the method of the related art increases the complexity of the algorithm and the occupation of the memory. Compared with related technologies, the present application can reduce algorithm complexity and reduce memory usage.

S120, judging whether the potential target is a sudden change according to the forward target of the vehicle at the last moment.

In the embodiment of the present application, according to the attribute data of the forward target of the vehicle at the last moment, it can be judged whether the potential target is a sudden change. If it is not a sudden change, execute step S130; if it is a sudden change, execute step S140.

Wherein, the attribute data of the forward target includes at least: identification, speed, position information, type; the identification refers to the identity identification number (Identity Document, ID) of the forward target; the position information refers to the longitudinal distance and distance between the forward target and the vehicle. Lateral distance; type refers to the acquisition method of the forward target, and the type includes fusion target, single radar target or single vision target. For example: if the forward target is fused after being collected by the vision sensor and the radar sensor, the type is a fusion target; if the forward target is collected by the radar sensor, the type is a single radar target; if the forward target is collected by the vision sensor If it is collected by a sensor, the type is a single vision target.

Exemplarily, before judging whether the potential target is a sudden change according to the forward target at the previous time, it is also necessary to calculate the position information of the forward target at the previous time at the current time and the position information of the potential target at the current time. The advantage of this setting is that it can better judge whether the potential target is a sudden change according to the position information. For example, if the difference between the two position information is large, then the potential target must be a sudden change. Exemplarily, the process of determining the position information of the two is: first predict the position information of the forward target at the current time at the previous time according to the position information of the forward target at the previous time; obtain the attribute data of the potential target at the current time, and Calculate the position information of the potential target at the current moment according to the attribute data. Wherein, the attribute data of the potential target is the same as that contained in the attribute data of the forward target.

Exemplarily, the judging condition for judging whether a potential target is a sudden change according to the forward target at the previous moment includes at least one of the following: judging whether the identification of the potential target is consistent with the identification of the forward target at the previous moment, and responding to the The identification is inconsistent with the identification of the forward target at the previous moment, and the potential target is a sudden change. This situation can indicate that the potential target and the forward target at the previous moment are not the same object (vehicle), and there are other vehicles that cut into the vehicle from adjacent lanes. Possibility in front of the self-driving vehicle; judging whether the type of the potential target is consistent with the type of the forward target at the previous moment, in response to the inconsistency between the type of the potential target and the type of the forward target at the previous moment, the potential target is a sudden change, in this case It can indicate that the potential target is not the same object with a high probability of the forward target at the previous moment, but it is also possible that the visual sensor or radar sensor has lost the target; judging the position information of the potential target at the current moment and the forward target at the previous moment at the current moment Whether the position information difference of the target exceeds the preset distance, in response to the position information difference of the potential target at the current moment and the position information of the forward target at the previous moment at the current moment exceeds the preset distance, and the potential target is a sudden change. This situation can be Indicates that a potential target may be an interfering object (such as a manhole cover).

S130. In response to the fact that the potential target is not a sudden change, use the forward target at the previous moment as the forward target at the current moment.

In the embodiment of the present application, according to the attribute data of the forward target of the vehicle at the previous moment, it is judged that the potential target is not a sudden change, which can explain that the potential target and the forward target at the previous moment are the same object, then the previous target The forward target is used as the forward target at the current moment.

S140. In response to the potential target being a sudden change, determine the number of sudden changes within a preset time period, and determine whether to use the potential target as a forward target at the current moment according to the number of sudden changes.

In the embodiment of the present application, according to the attribute data of the forward target of the vehicle at the last moment, it is judged that the potential target is a sudden change, which can explain that the potential target and the forward target at the last moment are not the same object. In this case, it is possible that the potential target is other vehicles in the adjacent lane, and other vehicles have the tendency of approaching the lane line or cutting in front of the self-driving vehicle. It is also possible that the potential target is a disturbance on the road (such as a manhole cover). It interferes with the self-driving vehicle's judgment of potential targets. It is necessary to determine the number of sudden changes within the preset time, and then determine whether the potential target is another vehicle in the adjacent lane or an interference object according to the number of sudden changes. If the potential target is other vehicles in the adjacent lane , then the potential target is taken as the forward target at the current moment; if the potential target is a disturbance, the forward target at the previous moment is taken as the forward target at the current moment.

This application needs to count the number of occurrences of sudden changes within a preset time, wherein this application does not limit the setting of the preset time. Optionally, the "time interval" between the "preset time" and the "time interval" between the "preset time" and the automatic driving vehicle to determine the potential target "There is a multiple relationship, such as: "preset time" = N * "time interval". The advantage of this setting is that the potential target can be confirmed multiple times to determine whether to use the potential target as the forward target at the current moment, and it can also avoid the forward error caused by directly using the potential target as the forward target at the current moment. Inaccurate and inconsistent output to target. Wherein, the setting of the "preset time" is related to the "preset threshold" in the following embodiments, the larger the value of the "preset threshold", the longer the "preset time".

It should be noted that, before the potential target is determined as the forward target at the current moment, the present application still uses the forward target at the previous moment as the forward target at the current moment. The advantage of this setting is that it can ensure the stability of the forward target output, thereby improving the safety factor of the self-driving vehicle.

The technical solution provided by this embodiment determines the potential target of the vehicle; judges whether the potential target is a sudden change according to the forward target of the vehicle at the previous moment; A forward target at a moment; in response to a potential target being a sudden change, determine the number of sudden changes within a preset time period, and determine whether to use the potential target as the current forward target according to the number of sudden changes. The present application determines the potential target of the vehicle and performs filtering processing on the potential target to determine whether it can be used as a forward target at the current moment, which can solve the problem of performing filtering processing on each potential target that may become a forward target in the related technology. The resulting computational complexity can reduce the complexity of the algorithm and reduce the memory usage; it can also avoid the inaccuracy and instability of the forward target output caused by directly using the potential target as the forward target at the current moment, which can ensure Stability of forward target output.

Embodiment two

Fig. 3 is a second schematic flow chart of the method for determining a forward target provided by the embodiment of the present application; Fig. 4 is a schematic diagram of another forward target of the vehicle provided by the embodiment of the present application. The embodiment of the present application is refined on the basis of the above-mentioned embodiments. This embodiment explains in detail the filtering process of whether to use the potential target as the forward target at the current moment.

Referring to Fig. 3, the method of the present embodiment includes but not limited to the following steps:

S210. Respectively identify objects in front of the vehicle through at least two sensors, and use the object closest to the vehicle as a potential target.

Wherein at least two sensors include a vision sensor and a radar sensor.

S220, judging whether the potential target is a sudden change according to the forward target of the vehicle at the last moment.

In the embodiment of the present application, according to the attribute data of the forward target of the vehicle at the last moment, it can be judged whether the potential target is a sudden change. If it is not a sudden change, execute step S230; if it is a sudden change, execute step S240.

S230. In response to the fact that the potential target is not a sudden change, use the forward target at the previous moment as the forward target at the current moment.

In the embodiment of the present application, according to the attribute data of the forward target of the vehicle at the previous moment, it is judged that the potential target is not a sudden change, it can be explained that the potential target and the forward target at the previous moment are the same object, then the forward target at the previous moment is The forward target is used as the forward target at the current moment.

Exemplarily, after the forward target at the previous moment is used as the forward target at the current moment, the position information of the forward target at the previous moment at the current moment may also be predicted according to the position information of the forward target at the previous moment. For example, the prediction method can be the distance-acceleration formula in the uniform acceleration motion model.

Exemplarily, after the forward target at the previous moment is used as the forward target at the current moment, the speed information of the forward target at the previous moment at the current moment can also be predicted according to the speed information of the forward target at the previous moment; Adjust the driving parameters of the vehicle according to the speed information of the predicted forward target at the current moment. For example, the calculation method can be the velocity-acceleration formula in the uniform acceleration motion model.

S240. In response to the potential target being a sudden change, determine the number of sudden changes within a preset time period, and determine whether the number of sudden changes is equal to a preset threshold.

In the embodiment of this application, according to the attribute data of the forward target of the vehicle at the last moment, it is judged that the potential target is a sudden change, which can explain that the potential target and the forward target at the last moment are not the same object, then the counter statistics can be used to preset The number of occurrences of the mutation condition over time. If the number of sudden changes is equal to the preset threshold, execute S250; if the number of sudden changes is smaller than the preset threshold, execute S260.

S250. If the number of sudden changes is equal to the preset threshold, set the potential target as the forward target at the current moment, and clear the counter for counting the number of sudden changes.

In the embodiment of the present application, if the number of sudden changes is equal to the preset threshold value, it indicates that the potential target is other vehicles in the adjacent lane, and other vehicles have the tendency of approaching the lane line or cutting into the front of the self-driving vehicle, then the potential target is taken as The forward target at the current moment, and clear the counter for counting the number of sudden changes, so that the counter can count the sudden change again at the next moment. As shown in Figure 4, it is a schematic diagram of taking other vehicles that are approaching the lane line or tend to cut into the front of the autonomous driving vehicle as forward targets.

Exemplarily, the process of setting the preset threshold includes at least: when the type of the potential target is a fusion target, if the identification of the potential target is inconsistent with the identification of the forward target at the previous moment, and the identification collected by the visual sensor corresponding to the potential target If it is consistent with the mark of the forward target at the previous moment, the preset threshold is set as the first preset threshold. This is because the actual vehicle test experience shows that the stability of the visual sensor to obtain the mark is very good, and the jump of this mark is often It is caused by the instability of the identification output by the fusion of the visual sensor and the radar sensor; if the identification of the potential target is inconsistent with the identification of the forward target at the previous moment, and the identification collected by the visual sensor corresponding to the potential target is consistent with the forward target at the previous moment If the identifiers of the targets are inconsistent, the preset threshold is set to a second preset threshold that is larger than the first preset threshold. The reason is to leave some room for error tolerance for identifier jumps. Wherein, the first preset threshold is smaller than the second preset threshold.

When the type of the forward target at the previous moment is a fusion target and the type of the potential target is a single radar target, if the identity of the potential target is consistent with the identity of the forward target at the previous moment, the preset threshold is set to the first A preset threshold, because this situation is often the type change caused by the loss of the visual sensor; if the identification of the potential target is inconsistent with the identification of the forward target at the previous moment, determine the position of the forward target at the previous moment at the current moment Whether the difference between the information and the position information of the potential target at the current moment exceeds the preset distance, if the difference does not exceed the preset distance, the preset threshold is set to the third preset threshold, because this is likely to be A continuous single radar target appears ahead due to misidentification of disturbances on the road (such as manhole covers, ground metal, etc.). The third preset threshold value is relatively high, because the single radar target is unstable, and its reliability for short-distance targets is not as stable as that of single vision targets and fusion targets, so the number of judgments on it can be correspondingly higher; among them, the first A preset threshold is smaller than a second preset threshold, and the second preset threshold is smaller than a third preset threshold.

Optionally, the first preset threshold may be 1; the second preset threshold may be 3; and the third preset threshold may be 60.

Exemplarily, after the potential target is used as the forward target at the current moment, the attribute data of the potential target at the current moment can also be obtained, and the speed information of the potential target can be calculated according to the attribute data; according to the speed information of the forward target at the current moment Adjust the driving parameters of the vehicle.

S260. If the number of sudden changes is less than the preset threshold, take the forward target at the previous moment as the forward target at the current time, and keep the statistical results of the counter, so as to continue to count the sudden change at the next time.

In the embodiment of the present application, if the number of sudden changes is less than the preset threshold, it indicates that the potential target is an interferer, then the forward target at the previous moment is taken as the forward target at the current moment, and the statistical results of the counter are kept, so that in the next Continue to make statistics on the mutation status for a moment.

It should be noted that when the number of sudden changes is equal to the preset threshold, or the potential target at the current moment is not a sudden change, the counter needs to be cleared; when the number of sudden changes is less than the preset threshold, even if the next sudden change Unlike the current mutation status, the reset operation is not performed, but the statistical results of the counter are retained, and the next mutation status will continue to be counted. The advantage of this setting is that it increases the fault tolerance space and enhances the robustness of the model. In some cases, there are two vehicles in the adjacent lane that continuously cut into the lane where the self-driving vehicle is located, and the closer one cuts halfway and does not cut. Since the counting continues on the basis of the last counter statistics, it can be selected faster. The second vehicle that cuts in.

Optionally, after taking the forward target at the previous moment as the forward target at the current moment, it also includes: predicting the speed information of the forward target at the current moment according to the speed information of the forward target at the previous moment ; Adjust the driving parameters of the vehicle according to the speed information of the forward target at the current moment.

It should be noted that step S220 is used to judge whether the potential target is in a sudden change state. If the potential target is not in a sudden change state, step S230 is executed, that is, the forward target at the previous moment is used as the forward target at the current moment. ; In the case that the potential target is a sudden change, execute steps S240-S260; wherein, step S240 is to determine the number of sudden changes, if the number of sudden changes is equal to the preset threshold, then execute step S250, that is, use the potential target as The forward target at the current moment; if the number of sudden changes is less than the preset threshold, step S260 is performed, that is, the forward target at the previous moment is used as the forward target at the current moment. Step S230 and steps S240-S260 are independent of each other, and this embodiment of the present application does not limit the execution order of these two steps. In steps S240-S260, step S250 and step S260 are independent of each other, and this embodiment of the present application does not limit the execution order of these two steps.

Optionally, after the system determines whether to use the potential target as the forward target at the current moment or the forward target at the previous moment as the forward target at the current moment, the system can use the identification, location information and The speed information is packaged and sent to the vehicle controller, so that the vehicle controller can adjust the driving parameters of the vehicle according to the information.

The technical solution provided by this embodiment uses at least two sensors to identify the objects in front of the vehicle respectively, and uses the object closest to the vehicle as a potential target; judges whether the potential target is a sudden change according to the forward target of the vehicle at the last moment ; In response to the potential target is not a sudden change, the forward target at the previous moment is used as the forward target at the current moment; in response to the potential target is a sudden change, determine the number of times of the sudden change within the preset time; if the number of times of the sudden change is equal to the predetermined If the threshold is set, the potential target will be used as the forward target at the current moment, and the counter for counting the number of sudden changes will be cleared; if the number of sudden changes is less than the preset threshold, the forward target at the previous moment will be used as the forward target at the current moment. Forward the target, and keep the statistical results of the counter, so as to continue to count the mutation status at the next moment. The present application determines the potential target of the vehicle and performs filtering processing on the potential target to determine whether it can be used as a forward target at the current moment, which can solve the problem of performing filtering processing on each potential target that may become a forward target in the related technology. The resulting computational complexity can reduce the complexity of the algorithm and reduce the memory usage; it can also avoid the inaccuracy and instability of the forward target output caused by directly using the potential target as the forward target at the current moment, which can ensure Stability of forward target output.

Embodiment three

FIG. 5 is a schematic structural diagram of an apparatus for determining a forward target provided in an embodiment of the present application. As shown in FIG. 5, the apparatus 500 may include:

The target determination module 510 is configured to determine potential targets of the vehicle, where the potential targets refer to objects on the current road that affect the driving state of the vehicle.

The status judging module 520 is configured to judge whether the potential target is in a sudden change according to the forward target of the vehicle at the last moment.

The first determination module 530 is configured to use the forward target at the previous moment as the forward target at the current moment in response to the potential target not being in a sudden change.

The second determining module 540 is configured to, in response to the potential target being a sudden change, determine the number of times of the sudden change within a preset time period, and determine whether to use the potential target as the current moment according to the number of sudden changes. forward target.

Optionally, the above-mentioned second determination module 540 is set to: if the number of sudden changes is equal to a preset threshold, then use the potential target as the forward target at the current moment, and count the number of sudden changes If the number of times of the sudden change is less than the preset threshold, the forward target at the previous moment is used as the forward target at the current moment, and the statistical result of the counter is retained, In order to continue to make statistics on the mutation status at the next moment.

Optionally, the above-mentioned target determination module 510 is configured to: respectively identify objects in front of the vehicle through at least two sensors, and use the object closest to the vehicle as the potential target; the at least two Sensors include vision sensors and radar sensors.

Optionally, the above-mentioned device for determining a forward target may further include: a location information determining module;

The position information determination module is configured to predict the previous time according to the position information of the forward target at the previous time before judging whether the potential target is in a sudden change according to the forward target of the vehicle at the previous time The location information of the forward target at the current moment; acquiring the attribute data of the potential target at the current moment, and calculating the location information of the potential target at the current moment according to the attribute data.

Optionally, the setting process of the preset threshold at least includes: when the type of the potential target is a fusion target, if the identification of the potential target is inconsistent with the identification of the forward target at the previous moment, and the The identification collected by the visual sensor corresponding to the potential target is consistent with the identification of the forward target at the previous moment, then the preset threshold is set as the first preset threshold; if the identification of the potential target is the same as the previous time The identification of the forward target is inconsistent, and the identification collected by the visual sensor corresponding to the potential target is inconsistent with the identification of the forward target at the previous moment, then the preset threshold is set as the second preset threshold; when the When the type of the forward target at the previous moment is a fusion target, and the type of the potential target is a single radar target, if the identification of the potential target is consistent with the identification of the forward target at the previous time, the predicted The threshold is set as the first preset threshold; if the identification of the potential target is inconsistent with the identification of the forward target at the previous time, it is determined that the position information of the forward target at the current time at the previous time is different from that at the current time. Whether the difference between the position information of the potential target exceeds the preset distance, if the difference does not exceed the preset distance, then set the preset threshold as a third preset threshold; wherein, the first preset The threshold is set to be smaller than the second preset threshold, and the second preset threshold is smaller than the third preset threshold.

Optionally, the judging condition for judging whether the potential target is a sudden change according to the forward target of the vehicle at the last moment includes at least one of the following: judging the identity of the potential target and the forward target at the last moment Whether the identification is consistent, in response to the fact that the identification of the potential target is inconsistent with the identification of the forward target at the previous moment, the potential target is in a sudden change; judging the type of the potential target and the forward target at the previous time Whether the type is consistent, in response to the type of the potential target being inconsistent with the type of the forward target at the previous time, the potential target is in a sudden change; judging that the position information of the potential target at the current time is consistent with the previous time at the previous time Whether the difference between the location information of the target at the current moment exceeds the preset distance, in response to the difference between the location information of the potential target at the current moment and the location information of the forward target at the current moment at the previous moment Beyond a predetermined distance, the potential target is a mutation condition.

Optionally, the above-mentioned device for determining a forward target may further include: a first speed information determining module;

The first speed information determining module is configured to predict the last speed information according to the speed information of the forward goal at the last time after the forward goal at the previous moment is taken as the forward goal at the current moment. The speed information of the forward target at the current moment at the moment; adjusting the driving parameters of the vehicle according to the predicted speed information of the forward target at the current moment at the previous moment.

Optionally, the above-mentioned device for determining a forward target may further include: a second speed information determining module;

The second speed information determination module is configured to obtain attribute data of the potential target at the current moment after the potential target is taken as the forward target at the current moment, and calculate the potential speed information according to the attribute data. The speed information of the target; adjusting the driving parameters of the vehicle according to the speed information of the forward target at the current moment.

The device for determining a forward target provided in this embodiment can be applied to the method for determining a forward target provided in any of the above embodiments, and has corresponding functions.

Embodiment four

Fig. 6 is a block diagram of an electronic device used to implement a method for determining a forward goal according to an embodiment of the present application. Fig. 6 shows a block diagram of an exemplary electronic device suitable for implementing the implementation of the embodiment of the present application. The electronic device shown in FIG. 6 is only an example, and should not limit the functions and scope of use of the embodiment of the present application. Typically, the electronic device may be a smart phone, a tablet computer, a notebook computer, a vehicle terminal, a wearable device, and the like. Optionally, the electronic device in this embodiment of the present application may be a self-driving vehicle.

As shown in FIG. 6, electronic device 600 takes the form of a general-purpose computing device. The components of the electronic device 600 may include, but are not limited to: at least one processor or processing unit 616, a memory 628, and a bus 618 connecting different system components (including the memory 628 and the processing unit 616).

Bus 618 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus structures. For example, these architectures include but are not limited to Industry Standard Architecture (Industry Standard Architecture, ISA) bus, Micro Channel Architecture (Micro Channel Architecture, MCA) bus, Enhanced ISA bus, Video Electronics Standards Association (Video Electronics Standards Association, VESA) local bus and peripheral component interconnect (Peripheral Component Interconnect, PCI) bus.

Electronic device 600 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by electronic device 600 and include both volatile and nonvolatile media, removable and non-removable media.

Memory 628 may include computer system readable media in the form of volatile memory, such as random access memory (Random Access Memory, RAM) 630 and/or cache memory 632 . Electronic device 600 may include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 634 may be used to read and write to non-removable, non-volatile magnetic media (not shown in FIG. 6, commonly referred to as a "hard drive"). Although not shown in FIG. 6, a disk drive for reading and writing to a removable non-volatile disk (such as a "floppy disk") may be provided, as well as a removable non-volatile disk (such as a Compact Disc Read-Only Disk (CDROM)). -Only Memory, CD-ROM), high-density digital video disc (Digital Video Disc-Read Only Memory, DVD-ROM) or other optical media) CD-ROM drive. In these cases, each drive may be connected to bus 618 through at least one data media interface. The memory 628 may include at least one program product having a set (eg, at least one) of program modules configured to perform the functions of the various embodiments of the present application.

A program/utility 640 having a set (at least one) of program modules 642, such as but not limited to, an operating system, at least one application program, other program modules, and program data, may be stored, for example, in memory 628. Each or some combination of the examples may include the implementation of a network environment. The program module 642 generally executes the functions and/or methods described in the embodiments of this application.

The electronic device 600 may also communicate with at least one external device 614 (such as a keyboard, a pointing device, a display 624, etc.), communicate with at least one device that enables a user to interact with the electronic device 600, and/or communicate with the electronic device 600 is capable of communicating with any device (eg, network card, modem, etc.) that communicates with at least one other computing device. Such communication may be through an Input/Output (I/O) interface 622 . Moreover, the electronic device 600 can also communicate with at least one network (such as a local area network (Local Area Network, LAN), a wide area network (Wide Area Network, WAN) and/or a public network, such as the Internet) through the network adapter 620. As shown in FIG. 6 , the network adapter 620 communicates with other modules of the electronic device 600 through the bus 618 . It should be appreciated that although not shown in FIG. 6 , other hardware and/or software modules may be used in conjunction with electronic device 600, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, disk arrays (Redundant Arrays of Independent Disks, RAID) systems, tape drives, and data backup storage systems.

The processing unit 616 executes various functional applications and data processing by running the programs stored in the memory 628 , for example, realizing the method for determining the forward goal provided by any embodiment of the present application.

Embodiment five

Embodiment 5 of the present application also provides a computer-readable storage medium on which is stored a computer program (or called computer-executable instructions). When the program is executed by a processor, it can be used to execute the Provides a method for determining the forward target.

The computer storage medium in the embodiments of the present application may use any combination of at least one computer-readable medium. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (non-exhaustive list) of computer-readable storage media include: electrical connections having at least one lead, portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), erasable Programmable Read-Only Memory ((Erasable Programmable Read-Only Memory, EPROM) or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above . In this document, a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

A computer readable signal medium may include a data signal carrying computer readable program code in baseband or as part of a carrier wave. Such propagated data signals may take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. .

Program code embodied on a computer readable medium may be transmitted by any appropriate medium, including but not limited to wireless, wire, optical cable, radio frequency (Radio Frequency, RF), etc., or any suitable combination of the above.

Computer program codes for performing the operations of the embodiments of the present application may be written in one or more programming languages or combinations thereof, the programming languages including object-oriented programming languages—such as Java, Smalltalk, C++, including A conventional procedural programming language - such as the "C" language or a similar programming language. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In cases involving a remote computer, the remote computer can be connected to the user computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (such as through an Internet service provider). Internet connection).

Claims

A method for determining a forward goal, comprising:

Determining potential targets of the vehicle, where the potential targets refer to objects on the current road that affect the driving state of the vehicle;

Judging whether the potential target is a sudden change according to the forward target of the vehicle at the last moment;

In response to the potential target not being a sudden change, using the forward target at the previous moment as the forward target at the current moment;

In response to the potential target being a sudden change, determining the number of times of the sudden change within a preset time period, and determining whether to use the potential target as a forward target at the current moment according to the number of sudden changes.
The method for determining a forward target according to claim 1, wherein the determining whether to use the potential target as the forward target at the current moment according to the number of times of the sudden change includes:

Responding to the number of sudden changes being equal to a preset threshold, using the potential target as a forward target at the current moment, and clearing a counter for counting the number of sudden changes;

In response to the number of sudden changes being less than the preset threshold, the forward target at the previous moment is used as the forward target at the current moment, and the statistical result of the counter is retained, so as to continue to monitor the target at the next moment The mutation status was counted.
The method for determining a forward target according to claim 1, wherein said determining the potential target of the vehicle comprises:

Respectively identify objects in front of the vehicle by at least two sensors, and use the object closest to the vehicle as the potential target; the at least two sensors include a visual sensor and a radar sensor.
According to the method for determining the forward target according to claim 2, before judging whether the potential target is a sudden change according to the forward target of the vehicle at the last moment, it also includes:

Predicting the position information of the forward target at the current time according to the position information of the forward target at the previous time;

Obtain the attribute data of the potential target at the current moment, and calculate the position information of the potential target at the current moment according to the attribute data.
The method for determining a forward target according to claim 4, wherein the setting process of the preset threshold includes at least:

When the type of the potential target is a fusion target, if the identification of the potential target is inconsistent with the identification of the forward target at the previous moment, and the identification collected by the visual sensor corresponding to the potential target is consistent with the identification of the previous time If the identification of the forward target is consistent, the preset threshold is set as the first preset threshold; if the identification of the potential target is inconsistent with the identification of the forward target at the previous moment, and the corresponding visual The identification collected by the sensor is inconsistent with the identification of the forward target at the previous moment, and the preset threshold is set as the second preset threshold;

When the type of the forward target at the last time is a fusion target, and the type of the potential target is a single radar target, if the identification of the potential target is consistent with the identification of the forward target at the previous time, the The preset threshold is set as a first preset threshold; if the identification of the potential target is inconsistent with the identification of the forward target at the previous time, determine that the position information of the forward target at the previous time at the current time is consistent with the Whether the difference between the position information of the potential target at the current moment exceeds a preset distance, if the difference does not exceed the preset distance, then set the preset threshold as a third preset threshold; wherein, the The first preset threshold is smaller than the second preset threshold, and the second preset threshold is smaller than the third preset threshold.
The method for determining a forward target according to claim 4, wherein the judging condition for judging whether the potential target is a sudden change according to the forward target of the vehicle at the last moment includes at least one of the following:

Judging whether the identification of the potential target is consistent with the identification of the forward target at the previous time, and in response to the inconsistency between the identification of the potential target and the identification of the forward target at the previous time, the potential target is a sudden change;

judging whether the type of the potential target is consistent with the type of the forward target at the previous moment, and in response to the type of the potential target being inconsistent with the type of the forward target at the previous time, the potential target is in a sudden change;

judging whether the difference between the position information of the potential target at the current time and the position information of the forward target at the current time at the previous time exceeds a preset distance, and in response to the position information of the potential target at the current time and the The difference between the position information of the forward target at the last time and the current time exceeds the preset distance, and the potential target is in a sudden change.
According to the method for determining the forward target according to claim 2, after the forward target at the last moment is used as the forward target at the current moment, it further includes:

Predicting the speed information of the forward target at the current time according to the speed information of the forward target at the previous time;

Adjusting the driving parameters of the vehicle according to the predicted speed information of the forward target at the previous moment at the current moment.
According to the method for determining a forward target according to claim 2, after using the potential target as the forward target at the current moment, further comprising:

Acquiring attribute data of the potential target at the current moment, and calculating speed information of the potential target according to the attribute data;

Adjusting the driving parameters of the vehicle according to the speed information of the forward target at the current moment.
A device for determining a forward target, comprising:

A target determination module, configured to determine a potential target of the vehicle, where the potential target refers to an object on the current road that affects the driving state of the vehicle;

The status judging module is configured to judge whether the potential target is in a sudden change according to the forward target of the vehicle at the last moment;

The first determination module is configured to use the forward target at the previous moment as the forward target at the current moment in response to the potential target not being a sudden change;

The second determining module is configured to, in response to the potential target being a sudden change, determine the number of times of the sudden change within a preset time, and determine whether to use the potential target as the current moment according to the number of sudden changes. forward target.
An electronic device comprising:

at least one processor;

a storage device configured to store at least one program;

When the at least one program is executed by the at least one processor, the at least one processor is made to implement the method for determining a forward target as described in any one of claims 1-8.
A computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the method for determining the forward goal according to any one of claims 1 to 8 is realized.