CN113805171B - Dangerous target judging method, dangerous target judging device, dangerous target judging equipment and storage medium - Google Patents
Dangerous target judging method, dangerous target judging device, dangerous target judging equipment and storage medium Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/42—Simultaneous measurement of distance and other co-ordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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Abstract
The embodiment of the invention discloses a dangerous target judging method, a dangerous target judging device, dangerous target judging equipment and a dangerous target judging storage medium. The method comprises the following steps: acquiring a previous dangerous target of a previous working period and a current potential dangerous target of a current working period; determining a target change state between the current potential dangerous target and the previous dangerous target according to the previous target attribute information of the previous dangerous target and the current target attribute information of the current potential dangerous target; and determining the current dangerous target information of the current working period according to the target change state. The embodiment of the invention improves the accuracy and timeliness of judging and processing the dangerous target when the dangerous target changes.
Description
Technical Field
The embodiment of the invention relates to a multi-sensor data fusion technology, in particular to a dangerous target judging method, a dangerous target judging device, dangerous target judging equipment and a dangerous target judging storage medium.
Background
The multi-sensor data fusion is a technical basis for realizing L3 level and above automatic driving, and is a necessary trend for realizing unmanned driving. According to the requirements of planning decision control, selecting targets dangerous to the driving process of the vehicle from targets output by multi-sensor data fusion. However, as the working conditions change, dangerous targets in the running process of the vehicle also change.
Disclosure of Invention
The embodiment of the invention provides a dangerous target judging method, a dangerous target judging device, dangerous target judging equipment and a dangerous target storage medium, so that judgment and treatment can be timely and accurately performed when a dangerous target changes.
In a first aspect, an embodiment of the present invention provides a dangerous target judging method, including:
acquiring a previous dangerous target of a previous working period and a current potential dangerous target of a current working period;
determining a target change state between the current potential dangerous target and the previous dangerous target according to the previous target attribute information of the previous dangerous target and the current target attribute information of the current potential dangerous target;
and determining the current dangerous target information of the current working period according to the target change state.
In a second aspect, an embodiment of the present invention further provides a dangerous target judging device, including:
the target acquisition module is used for acquiring a previous dangerous target of a previous working period and a current potential dangerous target of a current working period;
the target change state judging module is used for determining a target change state between the current potential dangerous target and the previous dangerous target according to the previous target attribute information of the previous dangerous target and the current target attribute information of the current potential dangerous target;
And the dangerous target determining module is used for determining the current dangerous target information of the current working period according to the target change state.
In a third aspect, an embodiment of the present invention further provides an electronic device, including:
one or more processors;
storage means for storing one or more programs,
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the hazard target determination methods according to any of the embodiments of the present invention.
In a fourth aspect, an embodiment of the present invention further provides a computer storage medium, where a computer program is stored, where the program when executed by a processor implements the dangerous target judging method according to any embodiment of the present invention.
The embodiment of the invention solves the problem of timely and accurate judgment and treatment of the dangerous target when the dangerous target changes by judging whether the previous dangerous target of the previous working period and the current potential dangerous target of the current working period change or not and determining the current dangerous target information of the current working period according to the target change state, and achieves the effect of improving the accuracy and timeliness of dangerous target judgment.
Drawings
FIG. 1 is a flowchart of a dangerous object judging method according to a first embodiment of the present invention;
FIG. 2 is a flowchart of a dangerous object judging method according to a second embodiment of the present invention;
FIG. 3 is a flowchart of a dangerous object judging method according to a third embodiment of the present invention;
FIG. 4 is a flowchart of a dangerous target judging method according to a fourth embodiment of the present invention;
fig. 5 is a schematic structural diagram of a dangerous target judging device according to a fifth embodiment of the present invention;
fig. 6 is a schematic structural diagram of an electronic device according to a sixth embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
Example 1
Fig. 1 is a flowchart of a dangerous target judging method according to a first embodiment of the present invention, where the present embodiment is applicable to dangerous target judging situations, and the method may be performed by a dangerous target judging device, and the device may be implemented in a software and/or hardware manner. The device can be configured in a server and/or a vehicle-mounted controller, and the method specifically comprises the following steps:
S110, acquiring a previous dangerous target of a previous working period and a current potential dangerous target of a current working period.
The working period refers to the time required by the system to execute the dangerous target determining program once, and the length of the time is determined by the system program to belong to a fixed value. The dangerous target is the nearest target to the vehicle in the multi-sensor data fusion result. The multi-sensor data at least comprises data output by a forward camera, a front long-distance millimeter wave radar, a front left middle-distance millimeter wave radar, a front right middle-distance millimeter wave radar, a rear left middle-distance millimeter wave radar and a rear right middle-distance millimeter wave radar. The multi-sensor data fusion result is a result obtained by fusing and outputting the multi-sensor data. The last dangerous target refers to the dangerous target finally determined in the last working period. The current potentially dangerous target refers to a dangerous target that is selected by the current duty cycle but not ultimately determined. Acquiring the last dangerous target of the last working period and the current potential dangerous target of the current working period refers to acquiring the dangerous target of the previous working period and the potential dangerous target of the next working period in the two continuous working periods.
S120, determining a target change state between the current potential dangerous target and the previous dangerous target according to the previous target attribute information of the previous dangerous target and the current target attribute information of the current potential dangerous target.
Wherein, the target attribute information at least comprises a target ID, a longitudinal speed, a longitudinal distance, a transverse speed, a transverse distance, a perception type and the like. The target ID is an identifier corresponding to a dangerous target, and can be used to distinguish whether the dangerous targets are identical. Longitudinal speed refers to the speed of the hazard target relative to the host vehicle in the longitudinal direction. The longitudinal distance refers to the distance of the hazard target relative to the host vehicle in the longitudinal direction. Lateral speed refers to the speed of the hazard target relative to the host vehicle in the lateral direction. The lateral distance refers to the distance of the hazard target relative to the host vehicle in the lateral direction. The perception type refers to what sensor detects a dangerous target, and can be divided into a single radar target, a visual target and a fusion target. Wherein, the single radar target means that the dangerous target is only detected by the radar; the visual target is that the dangerous target is detected by the camera only; the fusion target is obtained by jointly detecting a dangerous target by a camera and a radar. The target change state may be classified into an interrupt state, a vanishing state, a stuck state, and a fluctuated state. Determining the target change state between the current potential dangerous target and the previous dangerous target according to the previous target attribute information of the previous dangerous target and the current target attribute information of the current potential dangerous target refers to judging whether the previous dangerous target and the current potential dangerous target change according to the previous target attribute information of the previous dangerous target and the current target attribute information of the current potential dangerous target, and judging what target change state the change belongs to according to the change condition of the previous dangerous target and the current target attribute information of the current potential dangerous target.
S130, determining current dangerous target information of a current working period according to the target change state.
The current dangerous target information of the current working period refers to a dangerous target determined by the current working period and target attribute information thereof. According to the target change state, determining the current dangerous target information of the current working period means that after determining the target change state of the previous dangerous target and the current potential dangerous target, determining the current dangerous target of the current working period under the target change state.
According to the technical scheme, whether the last dangerous target of the last working period and the current potential dangerous target of the current working period change or not is judged, and the current dangerous target information of the current working period is determined according to the target change state, so that the problem that the dangerous target is timely and accurately judged and processed when the dangerous target changes is solved, and the effect of improving the accuracy and timeliness of dangerous target judgment is achieved.
Example two
Fig. 2 is a flowchart of a dangerous target judging method according to a second embodiment of the present invention, where, based on the above embodiments, it is preferable that a target change state between a current potentially dangerous target and a previous dangerous target determined according to previous target attribute information of the previous dangerous target and current target attribute information of the current potentially dangerous target is further optimized as follows: determining the target change state as an interrupt state if any of the following is satisfied:
The current potential dangerous target is different from the target ID of the last dangerous target, and the longitudinal distance change value is higher than the longitudinal distance first change threshold; the longitudinal distance change value is a longitudinal distance difference value between the current longitudinal distance in the current target attribute information and the last longitudinal distance in the last target attribute information; or,
the current potential dangerous target is different from the target ID of the last dangerous target, and the transverse distance change value is higher than the first transverse distance change threshold; the transverse distance change value is a transverse distance difference value between the current transverse distance in the current target attribute information and the last transverse distance in the last target attribute information; or,
the current potential dangerous target is different from the target ID of the last dangerous target, and the longitudinal speed change value is higher than the first longitudinal speed change threshold; the longitudinal speed change value is a longitudinal speed difference value between the current longitudinal speed in the current target attribute information and the last longitudinal speed in the last target attribute information; or,
the current potential dangerous target is the same as the target ID of the last dangerous target, the current potential dangerous target belongs to a single radar target, and the longitudinal speed change value is higher than a second longitudinal speed change threshold; or,
When the speed of the vehicle is lower than the first judging threshold value of the speed of the vehicle, and the transverse distance change value is higher than the second change threshold value of the transverse distance.
The specific method comprises the following steps:
s2101, acquiring a previous dangerous target of a previous working period and a current potential dangerous target of a current working period.
S2102, determining a target change state between the current potential dangerous target and the previous dangerous target according to the previous target attribute information of the previous dangerous target and the current target attribute information of the current potential dangerous target.
S2103, judging whether the speed of the vehicle is lower than a first judging threshold value of the speed of the vehicle.
If the vehicle speed is lower than the first determination threshold, step S2104 is executed, otherwise step S2105 is executed.
S2014, judging whether the transverse distance change value is higher than a transverse distance second change threshold value.
The lateral distance change value is a lateral distance difference value between the current lateral distance in the current target attribute information and the last lateral distance in the last target attribute information. If the lateral distance variation value is higher than the lateral distance second variation threshold, step S2111 is executed, otherwise step S2105 is executed.
S2105, judging whether the target ID of the current potential dangerous target is different from the target ID of the last dangerous target.
If the object IDs are different, step S2106 is executed, otherwise step S2109 is executed.
S2106, judging whether the longitudinal distance change value is higher than a first longitudinal distance change threshold.
The longitudinal distance change value is a longitudinal distance difference value between the current longitudinal distance in the current target attribute information and the last longitudinal distance in the last target attribute information. If the longitudinal distance variation value is higher than the first longitudinal distance variation threshold, step S2111 is executed, otherwise step S2107 is executed.
S2107, judging whether the transverse distance change value is higher than a first transverse distance change threshold.
If the lateral distance variation value is higher than the lateral distance first variation threshold, step S2111 is executed, otherwise step S2108 is executed.
S2108, judging whether the longitudinal speed change value is higher than a first longitudinal speed change threshold.
The longitudinal speed change value is a longitudinal speed difference value between the current longitudinal speed in the current target attribute information and the last longitudinal speed in the last target attribute information. If the longitudinal speed variation value is higher than the first longitudinal speed variation threshold, step S2111 is executed.
S2109, judging whether the current potential dangerous target belongs to a single radar target or not.
Judging whether the current potential dangerous target belongs to the single radar target refers to judging whether the current potential dangerous target belongs to the single radar target when the dangerous target is the single radar target and the system sets the same target ID for different targets, so that the current potential dangerous target needs to be judged whether the current potential dangerous target belongs to the single radar target when the target IDs are the same. If the current potentially dangerous target belongs to a single radar target, step S2110 is performed.
S2110, judging whether the longitudinal speed change value is higher than a second change threshold value of the longitudinal speed.
If the longitudinal speed variation value is higher than the second longitudinal speed variation threshold, step S2111 is executed.
S2111, the target change state is determined as an interrupt state.
Wherein, the interrupt state means that the current potential dangerous target is different from the last dangerous target.
S2112, determining current dangerous target information of the current working period according to the target change state.
According to the technical scheme, whether the potential dangerous target meets the interrupt state or not is judged according to the target ID, the longitudinal distance, the longitudinal speed, the transverse distance, the transverse speed, the vehicle speed and other conditions in the target attributes of the current potential dangerous target and the previous dangerous target, the problem of dangerous target judgment when the target change state is the interrupt state is solved, and the effect of timely and accurately finding that the dangerous target changes is achieved.
In an alternative embodiment, determining the target change state between the current potentially dangerous target and the previous dangerous target according to the previous target attribute information of the previous dangerous target and the current target attribute information of the current potentially dangerous target includes:
if the current working period does not have the current potential dangerous target, determining that the target change state is a vanishing state;
if the vehicle is in a non-stationary state, determining that the target change state is a clamping stagnation state, wherein the last target attribute information of the last dangerous target is the same as the current target attribute information of the current potential dangerous target;
if the speed of the vehicle is lower than the low-speed judging threshold, the longitudinal speed of the current target attribute is lower than the low-speed judging threshold, and the longitudinal distance change value is higher than the second longitudinal distance change threshold, determining that the target change state is a fluctuation state.
The vanishing state refers to a state in which the plurality of sensors cannot detect a dangerous target in the current working cycle. If the current working period does not have the current potential dangerous target, determining that the target change state is the vanishing state refers to determining that the target change state is the vanishing state as long as the current working period does not have the potential dangerous target.
The stuck state refers to a state in which the last target attribute information of the last dangerous target detected by the plurality of sensors and the current target attribute information of the current potential dangerous target are identical in a non-stationary state of the vehicle. Wherein the target attribute information may further include: lateral distance, longitudinal distance, lateral speed, longitudinal speed, lateral acceleration, longitudinal acceleration, perceived type, and state of motion, etc. If the host vehicle is in the non-stationary state, the last target attribute information of the last dangerous target is the same as the current target attribute information of the current potential dangerous target, and determining that the target change state is the stuck state means that if the last dangerous target is the same as the current target attribute of the potential dangerous target in the non-stationary state, determining that the target change state is the stuck state.
The fluctuation state refers to a state in which a longitudinal distance of the visual target is jumped while the vehicle is moving from prohibition to low speed. If the speed of the vehicle is lower than the low-speed judging threshold, the longitudinal speed of the current target attribute is lower than the longitudinal speed low-speed judging threshold, and the longitudinal distance change value is higher than the longitudinal distance second change threshold, determining that the target change state is a fluctuation state means that the vehicle can determine that the target state change value is a fluctuation state by judging the longitudinal speed and the longitudinal distance change value of the current dangerous target when the vehicle moves at a low speed.
By judging whether the current potential dangerous target, the previous dangerous target and the current potential dangerous target are the same, the motion state of the vehicle and other conditions, the problem of dangerous target judgment when the target change state is the vanishing state, the clamping stagnation state and the fluctuation state is solved, and the effect of timely and accurately finding the change of the dangerous target is achieved.
Example III
Fig. 3 is a flowchart of a dangerous target judging method according to a third embodiment of the present invention, where, based on the above embodiments, it is preferable that the current dangerous target information for determining the current period according to the target change state is further optimized as follows:
determining a time threshold for the target change state;
and determining current dangerous target information of the current period according to the target change state and the time threshold.
The specific method comprises the following steps:
s301, acquiring a previous dangerous target of a previous working period and a current potential dangerous target of a current working period.
S302, determining a target change state between the current potential dangerous target and the previous dangerous target according to the previous target attribute information of the previous dangerous target and the current target attribute information of the current potential dangerous target.
S303, determining a time threshold of the target change state.
The time threshold is counted from the working period when the target change state is changed, and a plurality of working periods can be contained in the time threshold range. The time threshold value for determining the target change state refers to that different target change states correspond to different time threshold value setting methods. In this embodiment, if the target change state is a vanishing state and a fluctuating state, a time threshold of the vanishing state and a time threshold of the fluctuating state are directly set; if the target change state is a clamping stagnation state, a time threshold value is not required to be set; if the target change state is an interrupt state, a time threshold value needs to be set according to the perception types of the previous dangerous target and the current potential dangerous target.
S304, determining current dangerous target information of the current period according to the target change state and the time threshold.
The step of determining the current dangerous target information of the current period according to the target change state and the time threshold value means that after the time threshold value is determined, the current dangerous target information of the current period is determined according to whether the target change state and the current working period are in a time threshold range or not from the time of starting timing of the time threshold value.
According to the technical scheme, different time thresholds are set according to different target change states, and the current dangerous target information of the current period is determined by combining the time thresholds, so that the problem that the latest dangerous target cannot be timely and accurately output when the dangerous target is changed is solved, the time for judging and processing the dangerous target is saved, and the effect of timely and accurately finding the change condition of the dangerous target is achieved.
In one alternative, determining the time threshold for the target change state includes:
if the target change state is an interrupt state, determining the last perception type of the last dangerous target and the current perception type of the current potential dangerous target;
and determining a time threshold value of the target change state according to the last perception type and the current perception type.
The method for determining the time threshold of the target change state according to the previous perception type and the current perception type refers to a method for comparing the previous perception type and the current perception type and determining the time threshold according to different comparison results.
In this embodiment, the last perception type is a visual target or a fusion target and the current perception type is a single radar target, and the time threshold of the interrupt state is set to be the first time threshold.
The last perception type is a visual target or a fusion target, the current perception type is a visual target or a fusion target, and if the longitudinal distance of the last dangerous target is lower than a short-distance first longitudinal distance threshold, the time threshold of the interruption state is set to be a second time threshold; if the longitudinal distance of the last dangerous object is higher than the long-distance first longitudinal distance threshold value and the speed of the vehicle is lower than the third judging threshold value of the speed, setting the time threshold value of the interruption state as a third time threshold value; if the two conditions are not satisfied, setting the time threshold of the interrupt state as a fourth time threshold.
The last perception type is a single radar target, the current perception type is a visual target or a fusion target, the target IDs of the last dangerous target and the current potential dangerous target are the same, the time threshold of the interrupt state is set to be a fifth time threshold, and otherwise, the time threshold of the interrupt state is set to be a sixth time threshold.
The last perception type is a single radar target and the current perception type is a single radar target, and if the longitudinal distance of the last dangerous target is higher than the long-distance second longitudinal distance threshold, the time threshold of the interruption state is set to be a seventh time threshold; if the longitudinal distance of the last dangerous object is lower than the short-distance second longitudinal distance threshold, setting the time threshold of the interruption state as an eighth time threshold; if the two conditions are not satisfied, setting the time threshold of the interrupt state as a ninth time threshold.
By comparing the situation of the last perception type with the situation of the current perception type in the interrupt state and setting different time thresholds, the time for judging and processing the dangerous target can be saved, and the effect of timely and accurately finding the change situation of the dangerous target is achieved.
Example IV
Fig. 4 is a flowchart of a dangerous target judging method according to a fourth embodiment of the present invention, where, based on the foregoing embodiments, it is preferable that the current dangerous target information determined according to the target change state and the time threshold is further optimized as:
if the target change state is an interrupt state or a vanishing state, comparing the actual duration in the interrupt state or the vanishing state with a time threshold of the interrupt state or the vanishing state;
if the actual duration of the interruption state or the disappearance state is smaller than the time threshold of the interruption state or the disappearance state, predicting the current dangerous target information of the current period according to the last target attribute information of the last dangerous target;
if the actual duration of the interrupt state is equal to or greater than the time threshold of the interrupt state, taking the current potential dangerous target as the current dangerous target of the current working period;
if the actual duration of the vanishing state is equal to or greater than the time threshold of the vanishing state, the current working period has no dangerous target.
The specific method comprises the following steps:
s401, acquiring a previous dangerous target of a previous working period and a current potential dangerous target of a current working period.
S402, determining a target change state between the current potential dangerous target and the previous dangerous target according to the previous target attribute information of the previous dangerous target and the current target attribute information of the current potential dangerous target.
S403, determining a time threshold of the target change state.
S404, if the target change state is the interrupt state or the vanishing state, comparing the actual duration in the interrupt state or the vanishing state with the time threshold of the interrupt state or the vanishing state.
The actual duration in the interrupt state or the vanishing state refers to the time length from the time threshold of the interrupt state or the vanishing state to the end of the current working period. Comparing the actual duration in the interrupted state or the disappeared state with the time threshold of the interrupted state or the disappeared state means judging whether the current working period is in the time threshold range of the interrupted state or the disappeared state.
S405, if the actual duration of the interruption state or the disappearance state is smaller than the time threshold of the interruption state or the disappearance state, predicting the current dangerous target information of the current period according to the last target attribute information of the last dangerous target.
The actual duration of the interrupt state or the vanishing state being smaller than the time threshold of the interrupt state or the vanishing state means that the current working period is within the time threshold range of the interrupt state or the vanishing state. Predicting the current dangerous target information of the current period according to the previous target attribute information of the previous dangerous target means that the current dangerous target information of the current period is judged by taking the previous target attribute of the previous dangerous target as a basis. If the actual duration of the interruption state or the disappearance state is smaller than the time threshold of the interruption state or the disappearance state, predicting the current dangerous target information of the current period according to the last target attribute information of the last dangerous target means that if the current working period is within the time threshold range of the interruption state or the disappearance state, the current dangerous target information of the current period is judged according to the last target attribute of the last dangerous target.
S406, if the actual duration of the interrupt state is equal to or greater than the time threshold of the interrupt state, taking the current potential dangerous target as the current dangerous target of the current working period.
Wherein, the actual duration of the interrupt state is equal to or greater than the time threshold of the interrupt state, which means that the current working period exceeds the time threshold range of the interrupt state. The step of taking the current potential dangerous target as the current dangerous target of the current working period means that the current potential dangerous target is determined to be the current dangerous target. If the actual duration is equal to or greater than the time threshold of the interrupt state, the step of taking the current potential dangerous target as the current dangerous target of the current working period means that if the current working period exceeds the time threshold range of the interrupt state, the current potential dangerous target is directly determined to be the current dangerous target.
S407, if the actual duration of the vanishing state is equal to or greater than the time threshold of the vanishing state, the current working period has no dangerous target.
Wherein, the actual duration of the vanishing state is equal to or greater than the time threshold of the vanishing state, which means that the current working period exceeds the time threshold range of the vanishing state. If the actual duration of the vanishing state is equal to or greater than the time threshold of the vanishing state, the current working period no dangerous target means that if the current working period exceeds the time threshold range of the vanishing state, the current working period no dangerous target.
According to the technical scheme, the actual duration in the interruption state or the disappearance state is compared with the time threshold in the interruption state or the disappearance state, and the current dangerous target information is determined according to the comparison result, so that the problem of determining the current dangerous target when the target change state is the interruption state or the disappearance state is solved, and the effect of accurately judging and processing the dangerous target when the dangerous target changes is achieved.
Based on the above embodiments, according to the target change state and the time threshold, the determining the current dangerous target information of the current period is preferably:
and if the target change state is a clamping stagnation state, predicting current dangerous target information in the current period according to the last target attribute information of the last dangerous target.
If the target change state is a stuck state, predicting the current dangerous target information of the current period according to the last target attribute information of the last dangerous target means that the current dangerous target information is directly determined according to the last dangerous target when the target change state is the stuck state.
When the target change state is a clamping stagnation state, the setting of the time threshold is canceled, so that the time for judging and processing the dangerous target is saved, and the timeliness of processing the dangerous target is ensured.
Based on the above embodiments, according to the target change state and the time threshold, the determining the current dangerous target information of the current period is preferably:
if the target change state is a fluctuation state, comparing the actual duration in the fluctuation state with a time threshold of the fluctuation state;
if the actual duration of the fluctuation state is smaller than the time threshold of the fluctuation state and the current potential dangerous target is the potential dangerous target output once, taking the current potential dangerous target as the current dangerous target of the current working period;
otherwise, the target change state is adjusted to be an interrupt state, and the current dangerous target information of the current working period is determined according to the interrupt state.
If the actual duration of the fluctuation state is smaller than the time threshold of the fluctuation state and the current potential dangerous target is the potential dangerous target which is output once, the step of taking the current potential dangerous target as the current dangerous target of the current working period means that when the current working period is within the time threshold range of the fluctuation state, the current potential dangerous target is the same as the potential dangerous target selected by the working period adjacent to the previous working period, and the working period adjacent to the previous working period is within the time threshold range of the fluctuation state, and the current potential dangerous target is taken as the current dangerous target. For example, in the time threshold range of the fluctuation state, when the dangerous potential target of three continuous working periods is changed from A to B and then is changed to A, the A is determined as the current dangerous target.
Otherwise, the target change state is adjusted to be an interrupt state, and the current dangerous target information of the current working period is determined according to the interrupt state, if the condition is not met, the target change state is re-determined to be the interrupt state, and the current dangerous target information is determined according to the condition that the target change state is the interrupt state.
By comparing the actual duration in the fluctuation state with the time threshold in the fluctuation state and determining the current dangerous target information or redefining the target change state according to the comparison result, the problem that the dangerous target judgment result fluctuates or the target change state judgment produces errors is solved, and the accuracy of dangerous target judgment is ensured.
Based on the above embodiments, according to the target change state and the time threshold, the determining the current dangerous target information of the current period is preferably:
if the transverse distance of the last dangerous object is larger than the transverse distance judgment threshold, the transverse cutting-out speed of the last dangerous object is larger than the transverse cutting-out speed threshold, and no dangerous object exists in the current working period;
if the speed of the vehicle is lower than a second judging threshold value of the speed, and the longitudinal distance of the last dangerous object is higher than the longitudinal distance judging threshold value, no dangerous object exists in the current working period;
otherwise, updating the attribute information of the last target, and taking the last dangerous target as the current dangerous target of the current working period.
The transverse cutting speed refers to the speed of the last dangerous object far away from the vehicle in the transverse direction. If the lateral distance of the last dangerous object is greater than the lateral distance judgment threshold, and the lateral cutting speed of the last dangerous object is greater than the lateral cutting speed threshold, the dangerous object free of the current working cycle means that the last dangerous object is far away from the vehicle in the lateral direction or is far away from the vehicle, and the dangerous object free of the current working cycle can be determined.
If the speed of the vehicle is lower than the second speed judging threshold, and the longitudinal distance of the last dangerous object is higher than the longitudinal distance judging threshold, the dangerous object free of the current working period means that the last dangerous object is far away from the vehicle in the longitudinal direction when the vehicle runs at a lower speed, and the dangerous object free of the current working period can be determined.
Otherwise, updating the attribute information of the previous target, and taking the previous dangerous target as the current dangerous target of the current working period means that if the two conditions are not satisfied, the attribute information of the previous target needs to be updated and taken as the current dangerous target of the current working period. The object attribute information to be updated includes a longitudinal distance, a transverse distance, a longitudinal speed and a transverse speed, and the rest of the object attribute information is kept unchanged. The target attribute information to be updated is calculated by the following formula:
longitudinal distance = last longitudinal distance + longitudinal speed dt
Lateral distance = last lateral distance + lateral velocity × dt
Longitudinal speed = last longitudinal speed + longitudinal acceleration × dt
Lateral speed = last lateral speed + lateral acceleration × dt
Wherein the last longitudinal distance, last transverse distance, last longitudinal speed, last transverse speed, longitudinal speed, transverse speed, longitudinal acceleration and transverse acceleration are the target attribute information of the last dangerous target before updating. dt is the length of the duty cycle.
By judging the situation of the last dangerous target, determining that the current working period has no dangerous target or updating and outputting the attribute information of the last dangerous target, the accuracy of dangerous target judgment and the fact that the target attribute information is the latest information are ensured.
Example five
Fig. 5 is a schematic structural diagram of a dangerous target judging device according to a fifth embodiment of the present invention, where the device may execute the vehicle electronic automation test method according to the foregoing embodiment, and the device may include: a target acquisition module 501, a target change state determination module 502, and a dangerous target determination module 503.
The target obtaining module 501 is configured to obtain a previous dangerous target of a previous working period and a current potential dangerous target of a current working period;
the target change state judging module 502 is configured to determine a target change state between the current potential dangerous target and the previous dangerous target according to the previous target attribute information of the previous dangerous target and the current target attribute information of the current potential dangerous target;
and the dangerous target determining module 503 is configured to determine current dangerous target information of the current working period according to the target change state.
The technical scheme provided by the embodiment of the invention completes the whole process from monitoring to issuing a new version to generating a target file and testing a signature control unit through the matching of the version monitoring downloading module, the test code editing module, the target file acquisition module and the test module, solves the problems of high manual participation and low test efficiency in the electronic automatic test process of the vehicle, reduces the manual participation, and improves the universality, the sustainability and the test efficiency of the electronic automatic test of the vehicle.
In the above apparatus, optionally, the target change state determining module 502 includes:
an interrupt state judgment unit configured to determine that the target change state is an interrupt state if any one of:
the current potential dangerous target is different from the target ID of the last dangerous target, and the longitudinal distance change value is higher than the longitudinal distance first change threshold; the longitudinal distance change value is a longitudinal distance difference value between the current longitudinal distance in the current target attribute information and the last longitudinal distance in the last target attribute information; or,
the current potential dangerous target is different from the target ID of the last dangerous target, and the transverse distance change value is higher than the first transverse distance change threshold; the transverse distance change value is a transverse distance difference value between the current transverse distance in the current target attribute information and the last transverse distance in the last target attribute information; or,
the current potential dangerous target is different from the target ID of the last dangerous target, and the longitudinal speed change value is higher than the first longitudinal speed change threshold; the longitudinal speed change value is a longitudinal speed difference value between the current longitudinal speed in the current target attribute information and the last longitudinal speed in the last target attribute information; or,
The current potential dangerous target is the same as the target ID of the last dangerous target, the current potential dangerous target belongs to a single radar target, and the longitudinal speed change value is higher than a second longitudinal speed change threshold; or,
when the speed of the vehicle is lower than the first judging threshold value of the speed of the vehicle, and the transverse distance change value is higher than the second change threshold value of the transverse distance.
In the above apparatus, optionally, the target change state determining module 502 includes:
the vanishing state judging unit is used for determining that the target change state is a vanishing state if the current working period does not have the current potential dangerous target;
the stuck state judging unit is used for determining that the target change state is a stuck state if the last target attribute information of the last dangerous target is the same as the current target attribute information of the current potential dangerous target in the non-stationary state of the vehicle;
and the fluctuation state judging unit is used for determining that the target change state is a fluctuation state if the speed of the vehicle is lower than the low speed judging threshold, the longitudinal speed of the current target attribute is lower than the low speed judging threshold, and the longitudinal distance change value is higher than the second longitudinal distance change threshold.
In the above apparatus, optionally, the dangerous target determination module 503 includes:
A time threshold determining unit, configured to determine a time threshold of the target change state;
and the current dangerous target information determining unit is used for determining the current dangerous target information of the current period according to the target change state and the time threshold.
In the above apparatus, optionally, the current hazard target information determining unit includes:
if the target change state is an interrupt state or a vanishing state, comparing the actual duration in the interrupt state or the vanishing state with a time threshold of the interrupt state or the vanishing state;
if the actual duration of the interruption state or the disappearance state is smaller than the time threshold of the interruption state or the disappearance state, predicting the current dangerous target information of the current period according to the last target attribute information of the last dangerous target;
if the actual duration of the interrupt state is equal to or greater than the time threshold of the interrupt state, taking the current potential dangerous target as the current dangerous target of the current working period;
if the actual duration of the vanishing state is equal to or greater than the time threshold of the vanishing state, the current working period has no dangerous target.
In the above apparatus, optionally, the current hazard target information determining unit includes:
and if the target change state is a clamping stagnation state, predicting current dangerous target information in the current period according to the last target attribute information of the last dangerous target.
In the above apparatus, optionally, the current hazard target information determining unit includes:
if the target change state is a fluctuation state, comparing the actual duration in the fluctuation state with a time threshold of the fluctuation state;
if the actual duration of the fluctuation state is smaller than the time threshold of the fluctuation state and the current potential dangerous target is the potential dangerous target output once, taking the current potential dangerous target as the current dangerous target of the current working period;
otherwise, the target change state is adjusted to be an interrupt state, and the current dangerous target information of the current working period is determined according to the interrupt state.
In the above apparatus, optionally, predicting current dangerous target information of the current period according to previous target attribute information of a previous dangerous target includes:
if the transverse distance of the last dangerous object is larger than the transverse distance judgment threshold, the transverse cutting-out speed of the last dangerous object is larger than the transverse cutting-out speed threshold, and no dangerous object exists in the current working period;
if the speed of the vehicle is lower than a second judging threshold value of the speed, and the longitudinal distance of the last dangerous object is higher than the longitudinal distance judging threshold value, no dangerous object exists in the current working period;
otherwise, updating the attribute information of the last target, and taking the last dangerous target as the current dangerous target of the current working period.
In the above apparatus, optionally, determining a time threshold of the target change state includes:
if the target change state is an interrupt state, determining the last perception type of the last dangerous target and the current perception type of the current potential dangerous target;
determining a time threshold of the target change state according to the last perception type and the current perception type
The device provided in this embodiment constructs a module capable of implementing each step in the dangerous target judging device. And setting different time thresholds for different target transformation states by using the time threshold determining unit and the current dangerous target information determining unit, and determining the current dangerous target information according to the time thresholds. The efficiency and the accuracy of dangerous target judgment are improved, and timely and accurate judgment and treatment of dangerous targets can be realized when the dangerous targets change.
Example six
Fig. 6 is a schematic structural diagram of an electronic device according to a sixth embodiment of the present invention, and as shown in fig. 6, the electronic device includes a processor 60, a memory 61, an input device 62 and an output device 63; the number of processors 60 in the electronic device may be one or more, one processor 60 being taken as an example in fig. 6; the processor 60, the memory 61, the input means 62 and the output means 63 in the electronic device may be connected by a bus or other means, in fig. 6 by way of example.
The memory 61 is a computer readable storage medium that may be used to store software programs, computer executable programs, and modules, such as program instructions and/or modules (e.g., the target acquisition module 501, the target change state determination module 502, and the dangerous target determination module 503) corresponding to a dangerous target determination method in an embodiment of the present invention. The processor 60 executes various functional applications of the electronic device and data processing by executing software programs, instructions and modules stored in the memory 61, i.e., implements one of the hazard target determination methods described above.
The memory 61 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, at least one application program required for functions; the storage data area may store data created according to the use of the terminal, etc. In addition, the memory 61 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device. In some examples, memory 61 may further include memory remotely located relative to processor 60, which may be connected to the electronic device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 62 is operable to receive input numeric or character information and to generate key signal inputs related to user settings and function control of the electronic device. The output 63 may comprise a display electronic device such as a display screen.
Example seven
A seventh embodiment of the present invention also provides a storage medium containing computer-executable instructions, which when executed by a computer processor, are for performing a dangerous target judging method, the method comprising:
acquiring a previous dangerous target of a previous working period and a current potential dangerous target of a current working period;
determining a target change state between the current potential dangerous target and the previous dangerous target according to the previous target attribute information of the previous dangerous target and the current target attribute information of the current potential dangerous target;
and determining the current dangerous target information of the current working period according to the target change state.
Of course, the storage medium containing the computer executable instructions provided in the embodiments of the present invention is not limited to the above-described method operations, and may also perform the related operations in the dangerous target judging method provided in any embodiment of the present invention.
From the above description of embodiments, it will be clear to a person skilled in the art that the present invention may be implemented by means of software and necessary general purpose hardware, but of course also by means of hardware, although in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, etc., and include several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments of the present invention.
It should be noted that, in the above-mentioned embodiments of the search apparatus, each unit and module included are only divided according to the functional logic, but not limited to the above-mentioned division, as long as the corresponding functions can be implemented; in addition, the specific names of the functional units are also only for distinguishing from each other, and are not used to limit the protection scope of the present invention.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (11)
1. A dangerous object judging method, characterized by comprising:
acquiring a previous dangerous target of a previous working period and a current potential dangerous target of a current working period;
determining a target change state between the current potential dangerous target and the previous dangerous target according to the previous target attribute information of the previous dangerous target and the current target attribute information of the current potential dangerous target;
determining current dangerous target information of a current working period according to the target change state;
wherein, the determining the target change state between the current potential dangerous target and the previous dangerous target according to the previous target attribute information of the previous dangerous target and the current target attribute information of the current potential dangerous target includes:
Determining the target change state as an interrupt state if any of the following is satisfied:
the current potential dangerous target is different from the target ID of the last dangerous target, and the longitudinal distance change value is higher than the longitudinal distance first change threshold; the longitudinal distance change value is a longitudinal distance difference value between the current longitudinal distance in the current target attribute information and the last longitudinal distance in the last target attribute information; or,
the current potential dangerous target is different from the target ID of the last dangerous target, and the transverse distance change value is higher than the first transverse distance change threshold; the transverse distance change value is a transverse distance difference value between the current transverse distance in the current target attribute information and the last transverse distance in the last target attribute information; or,
the current potential dangerous target is different from the target ID of the last dangerous target, and the longitudinal speed change value is higher than the first longitudinal speed change threshold; the longitudinal speed change value is a longitudinal speed difference value between the current longitudinal speed in the current target attribute information and the last longitudinal speed in the last target attribute information; or,
the current potential dangerous target is the same as the target ID of the last dangerous target, the current potential dangerous target belongs to a single radar target, and the longitudinal speed change value is higher than a second longitudinal speed change threshold; or,
When the speed of the vehicle is lower than the first judging threshold value of the speed of the vehicle, and the transverse distance change value is higher than the second change threshold value of the transverse distance.
2. The method according to claim 1, wherein the determining the target change state between the current potentially dangerous target and the previous dangerous target according to the previous target attribute information of the previous dangerous target and the current target attribute information of the current potentially dangerous target includes:
if the current working period does not have the current potential dangerous target, determining that the target change state is a vanishing state;
if the vehicle is in a non-stationary state, determining that the target change state is a clamping stagnation state, wherein the last target attribute information of the last dangerous target is the same as the current target attribute information of the current potential dangerous target;
if the speed of the vehicle is lower than the low-speed judging threshold, the longitudinal speed of the current target attribute is lower than the low-speed judging threshold, and the longitudinal distance change value is higher than the second longitudinal distance change threshold, determining that the target change state is a fluctuation state.
3. The method of claim 1, wherein determining current dangerous target information for a current period based on the target change state comprises:
Determining a time threshold for the target change state;
and determining current dangerous target information of the current period according to the target change state and the time threshold.
4. A method according to claim 3, wherein determining current hazard target information for a current cycle based on the target change state and the time threshold comprises:
if the target change state is an interrupt state or a vanishing state, comparing the actual duration in the interrupt state or the vanishing state with a time threshold of the interrupt state or the vanishing state;
if the actual duration of the interruption state or the disappearance state is smaller than the time threshold of the interruption state or the disappearance state, predicting the current dangerous target information of the current period according to the last target attribute information of the last dangerous target;
if the actual duration of the interrupt state is equal to or greater than the time threshold of the interrupt state, taking the current potential dangerous target as the current dangerous target of the current working period;
if the actual duration of the vanishing state is equal to or greater than the time threshold of the vanishing state, the current working period has no dangerous target.
5. A method according to claim 3, wherein determining current hazard target information for a current cycle based on the target change state and the time threshold comprises:
And if the target change state is a clamping stagnation state, predicting current dangerous target information in the current period according to the last target attribute information of the last dangerous target.
6. The method according to any one of claims 4-5, wherein predicting current hazard target information for a current cycle based on previous target attribute information of a previous hazard target comprises:
if the transverse distance of the last dangerous object is larger than the transverse distance judgment threshold, the transverse cutting-out speed of the last dangerous object is larger than the transverse cutting-out speed threshold, and no dangerous object exists in the current working period;
if the speed of the vehicle is lower than a second judging threshold value of the speed, and the longitudinal distance of the last dangerous object is higher than the longitudinal distance judging threshold value, no dangerous object exists in the current working period;
otherwise, updating the attribute information of the last target, and taking the last dangerous target as the current dangerous target of the current working period.
7. A method according to claim 3, wherein determining current hazard target information for a current cycle based on the target change state and the time threshold comprises:
if the target change state is a fluctuation state, comparing the actual duration in the fluctuation state with a time threshold of the fluctuation state;
If the actual duration of the fluctuation state is smaller than the time threshold of the fluctuation state and the current potential dangerous target is the potential dangerous target output once, taking the current potential dangerous target as the current dangerous target of the current working period;
otherwise, the target change state is adjusted to be an interrupt state, and the current dangerous target information of the current working period is determined according to the interrupt state.
8. A method according to claim 3, wherein determining a time threshold for the target change state comprises:
if the target change state is an interrupt state, determining the last perception type of the last dangerous target and the current perception type of the current potential dangerous target;
and determining a time threshold value of the target change state according to the last perception type and the current perception type.
9. A dangerous object judging device, characterized by comprising:
the target acquisition module is used for acquiring a previous dangerous target of a previous working period and a current potential dangerous target of a current working period;
the target change state judging module is used for determining a target change state between the current potential dangerous target and the previous dangerous target according to the previous target attribute information of the previous dangerous target and the current target attribute information of the current potential dangerous target;
The dangerous target determining module is used for determining current dangerous target information of a current working period according to the target change state;
wherein, the target change state judgment module comprises:
an interrupt state judgment unit configured to determine that the target change state is an interrupt state if any one of:
the current potential dangerous target is different from the target ID of the last dangerous target, and the longitudinal distance change value is higher than the longitudinal distance first change threshold; the longitudinal distance change value is a longitudinal distance difference value between the current longitudinal distance in the current target attribute information and the last longitudinal distance in the last target attribute information; or,
the current potential dangerous target is different from the target ID of the last dangerous target, and the transverse distance change value is higher than the first transverse distance change threshold; the transverse distance change value is a transverse distance difference value between the current transverse distance in the current target attribute information and the last transverse distance in the last target attribute information; or,
the current potential dangerous target is different from the target ID of the last dangerous target, and the longitudinal speed change value is higher than the first longitudinal speed change threshold; the longitudinal speed change value is a longitudinal speed difference value between the current longitudinal speed in the current target attribute information and the last longitudinal speed in the last target attribute information; or,
The current potential dangerous target is the same as the target ID of the last dangerous target, the current potential dangerous target belongs to a single radar target, and the longitudinal speed change value is higher than a second longitudinal speed change threshold; or,
when the speed of the vehicle is lower than the first judging threshold value of the speed of the vehicle, and the transverse distance change value is higher than the second change threshold value of the transverse distance.
10. An electronic device, comprising:
one or more processors;
storage means for storing one or more programs,
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the hazard target determination method of any of claims 1-8.
11. A computer-readable storage medium having stored thereon a computer program, which when executed by a processor implements the hazard target determination method according to any one of claims 1 to 8.
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