CN113895449B - Forward target determination method and device and electronic equipment - Google Patents
Forward target determination method and device and electronic equipment Download PDFInfo
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- CN113895449B CN113895449B CN202111226177.XA CN202111226177A CN113895449B CN 113895449 B CN113895449 B CN 113895449B CN 202111226177 A CN202111226177 A CN 202111226177A CN 113895449 B CN113895449 B CN 113895449B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
- B60W60/0017—Planning or execution of driving tasks specially adapted for safety of other traffic participants
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
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Abstract
The embodiment of the application discloses a forward target determining method, a forward target determining device and electronic equipment. Wherein the method comprises the following steps: determining a potential target of the vehicle; judging whether the potential target is in a sudden change state according to the forward target of the vehicle at the previous moment; if not, taking the forward target at the previous moment as the forward target at the current moment; if yes, determining the number of mutation conditions, and determining whether to take the potential target as a forward target at the current moment according to the number of mutation conditions. According to the technical scheme provided by the embodiment of the application, the algorithm complexity can be reduced, the occupied amount of the memory is reduced, and the stability of forward target output can be ensured.
Description
Technical Field
The embodiment of the application relates to the technical field of intelligent driving, in particular to a forward target determining method and device and electronic equipment.
Background
With the development of the autopilot industry, more and more automobile factories begin to develop and produce autopilot automobiles. Thus, the accuracy of the autonomous vehicle's selection of a forward target during travel directly affects the safety factor of the autonomous vehicle.
In the prior art, the common practice of determining the forward direction target is as follows: every potential target that may be a forward target needs to be tracked using a forward target determination algorithm over lateral distance, longitudinal distance, lateral speed, and longitudinal speed. Although the prior art can cope with the influence of abrupt change of the forward target, the complexity of the algorithm and the occupied amount of the memory are increased, and the forward target is not selected stably enough, and the false alarm of the potential target has a certain influence on the safety of the vehicle.
Disclosure of Invention
The embodiment of the application provides a method, a device and electronic equipment for determining a forward target, which can reduce algorithm complexity and occupation amount of a memory, and can also ensure stability of forward target output.
In a first aspect, an embodiment of the present application provides a method for determining a forward target, where the method includes:
determining a potential target of the vehicle, wherein the potential target refers to an object affecting the driving state of the vehicle on a current road;
judging whether the potential target is a sudden change state according to the forward target of the vehicle at the previous moment;
if not, taking the forward target at the previous moment as the forward target at the current moment;
If yes, determining the number of times of the mutation condition, and determining whether the potential target is used as a forward target of the current moment according to the number of times of the mutation condition.
In a second aspect, an embodiment of the present application provides a forward target determining apparatus, including:
the target determining module is used for determining potential targets of the vehicle, wherein the potential targets are objects which influence the driving state of the vehicle on the current road;
the situation judging module is used for judging whether the potential target is a sudden change situation according to the forward target of the vehicle at the previous moment;
the first determining module is used for taking the forward target of the previous moment as the forward target of the current moment if not;
and the second determining module is used for determining the times of the mutation conditions if yes, and determining whether the potential target is used as a forward target of the current moment according to the times of the mutation conditions.
In a third aspect, an embodiment of the present application provides an electronic device, including:
one or more processors;
a 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 forward targeting method described in any embodiment of the present application.
In a fourth aspect, embodiments of the present application provide a computer readable storage medium having a computer program stored thereon, where the computer program, when executed by a processor, implements a method for determining a forward target according to any embodiment of the present application.
The embodiment of the application provides a method and a device for determining a forward target and electronic equipment, wherein the potential target of a vehicle is determined; judging whether the potential target is in a sudden change state according to the forward target of the vehicle at the previous moment; if not, taking the forward target at the previous moment as the forward target at the current moment; if yes, determining the number of mutation conditions, and determining whether to take the potential target as a forward target at the current moment according to the number of mutation conditions. According to the method and the device, the potential targets of the vehicle are determined, and the potential targets are subjected to filtering processing to determine whether the potential targets can be used as the forward targets at the current moment, so that the computational complexity caused by filtering processing of each potential target which possibly becomes the forward target in the prior art can be solved, the algorithm complexity can be reduced, and the occupied amount of a memory can be reduced; inaccuracy and instability of forward target output caused by directly taking the potential target as the forward target at the current moment can also be avoided, and stability of forward target output can be ensured.
It should be understood that the description of this section is not intended to identify key or critical features of the embodiments of the application or to delineate the scope of the application. Other features of the present application will become apparent from the description that follows.
Drawings
The drawings are for better understanding of the present solution and do not constitute a limitation of the present application. Wherein:
fig. 1 is a first flow diagram of a method for determining a forward target according to an embodiment of the present application;
FIG. 2 is a schematic view of a forward target of a vehicle according to an embodiment of the present disclosure;
fig. 3 is a second flow chart of a method for determining a forward target according to an embodiment of the present application;
FIG. 4 is another forward-facing schematic view of a vehicle provided in an embodiment of the present application;
fig. 5 is a schematic structural diagram of a forward target determining device according to an embodiment of the present application;
fig. 6 is a block diagram of an electronic device for implementing a forward targeting method according to an embodiment of the present application.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
Example 1
Fig. 1 is a first flow schematic diagram of a method for determining a forward target according to an embodiment of the present application, and fig. 2 is a schematic diagram of a forward target of a vehicle according to an embodiment of the present application; the present embodiment is applicable to a case where a potential target of a vehicle is subjected to a filtering process to determine whether the potential target can be a forward target at the current time. The forward target determining method provided by the embodiment of the present application may be performed by the forward target determining device provided by the embodiment of the present application, where the device may be implemented by software and/or hardware, and integrated in an electronic device that performs the method. Preferably, the electronic device in the embodiment of the present application may be an autonomous vehicle. The vehicle in this application refers to an autonomous vehicle.
Referring to fig. 1, the method of the present embodiment includes, but is not limited to, the following steps:
s110, determining a potential target of the vehicle.
The potential target refers to an object on the current road, which affects the driving state of the automatic driving vehicle, and can be a vehicle or an interfering object (such as a well lid and a metal object) on the road surface. The forward target refers to a vehicle located in front of the autonomous vehicle on the current road.
In the embodiment of the present application, in the case of a congestion condition or a high speed, an automatically driven vehicle (hereinafter, simply referred to as a "vehicle") needs to identify one or more objects in front that affect the driving state of the vehicle, determine one object as a potential target, and select one potential target as a forward target, so that the vehicle adjusts its own speed and acceleration according to the position, speed, and acceleration of the forward target. As shown in fig. 2, a schematic diagram of a vehicle in front of the vehicle closest to the vehicle during lane travel is shown as a forward target.
Specifically, the determination process of the potential target of the vehicle is as follows: identifying objects in front of the vehicle through at least two sensors respectively, and taking the object closest to the vehicle as a potential target; wherein the at least two sensors include a vision sensor and a radar sensor.
In the present embodiment, the potential target of the vehicle is one and the closest object to the vehicle. The number of potential targets in the prior art vehicles is more than one, and each potential target that may be a forward target needs to be tracked, so the prior art method increases the complexity of the algorithm and the memory footprint. Compared with the prior art, the method and the device can reduce algorithm complexity and the occupied amount of the memory.
S120, judging whether the potential target is in a sudden change state according to the forward target of the vehicle at the previous moment.
In the embodiment of the application, according to the attribute data of the forward target of the vehicle at the previous moment, whether the potential target is in the abrupt change state can be judged. If not, executing step S130; if the mutation status is the mutation status, step S140 is performed.
Wherein, the attribute data of the forward target at least comprises: identification, speed, location information, type; identification refers to the identification number (Identity document, ID) of the forward-facing target; the position information refers to the longitudinal distance and the lateral distance of the forward target from the vehicle; the type refers to a collection mode of a forward target, and the type comprises a fusion target, a single radar target or a single vision target. For example: if the forward targets are fused after being acquired by the vision sensor and the radar sensor, the type is a fused target; if the forward target is acquired by a radar sensor, the type is a single radar target; if the forward target is collected by a vision sensor, the type is a single vision target.
Preferably, before judging whether the potential target is in the abrupt change state according to the previous forward target, the position information of the previous forward target at the current time and the position information of the potential target need to be calculated. The advantage of this is that it is better to determine if the potential target is a sudden change based on the location information, e.g. if the difference in the location information is large, then the potential target must be a sudden change. Specifically, the specific process of determining the position information of the two is as follows: predicting the position information of the forward target at the current moment at the previous moment according to the position information of the forward target at the previous moment; and acquiring attribute data of the potential target at the current moment, and calculating the position information of the potential target according to the attribute data. Wherein the attribute data of the potential target is the same as the content contained in the attribute data of the forward target.
Further, the judging condition for judging whether the potential target is the mutation condition according to the forward target at the previous moment comprises at least one of the following: judging whether the identification of the potential target is consistent with the identification of the previous forward target at the moment, if not, the potential target is in a sudden change state, which can indicate that the potential target and the previous forward target at the moment are not the same object (vehicle), and that other vehicles possibly cut into the front of the automatic driving vehicle from adjacent lanes exist; judging whether the type of the potential target is consistent with the type of the previous forward target at the moment, if not, the potential target is in a sudden change state, and the situation can indicate that the potential target and the previous forward target at the moment are not the same object in a large probability, but a visual sensor or a radar sensor is likely to lose the target; judging whether the difference value between the position information of the potential target and the position information of the forward target at the current moment exceeds a preset distance, if so, determining that the potential target is in a mutation state, and indicating that the potential target may be an interference object (such as a manhole cover).
And S130, if not, taking the forward target at the previous moment as the forward target at the current moment.
In this embodiment of the present application, according to attribute data of a forward target of a vehicle at a previous time, it is determined that the potential target is not a sudden change condition, which may indicate that the potential target and the forward target at the previous time are the same object, and then the forward target at the previous time is taken as the forward target at the current time.
And S140, if so, determining the number of times of mutation conditions, and determining whether to take the potential target as a forward target at the current moment according to the number of times of mutation conditions.
In the embodiment of the present application, the situation that the potential target is abrupt is determined according to the attribute data of the forward target of the vehicle at the previous moment, which may indicate that the potential target and the forward target at the previous moment are not the same object. This situation may potentially be targeted by other vehicles adjacent the lane that have a tendency to cut into the lane before the autonomous vehicle, as well as by an interfering object (e.g., a manhole cover) on the road surface that interferes with the autonomous vehicle's judgment of the potential object. Further, it is required to determine whether the mutation condition occurs in a preset time, and then determine whether the potential target is another vehicle of the adjacent lane or an interfering object according to the mutation condition, if the potential target is another vehicle of the adjacent lane, the potential target is used as a forward target at the current moment; and if the potential target is an interfering object, taking the forward target at the previous moment as the forward target at the current moment.
The number of times of occurrence of the abrupt change condition in the preset time is counted, wherein the setting of the preset time is not specifically limited, and preferably, the "preset time" and the "time interval" of determining the potential target by the automatic driving vehicle are in a multiple relationship, for example: "preset time" =n×time interval ". The advantage of this arrangement is that the potential target can be confirmed multiple times to determine whether the potential target is taken as the forward target of the current moment, and inaccuracy and instability of the forward target output caused by directly taking the potential target as the forward target of the current moment can be avoided. The "preset time" is set in relation to the "preset threshold" in the following embodiments, and the larger the value of the "preset threshold", the longer the "preset time".
It should be noted that, before determining that the potential target is the forward target at the current time, the present application still uses the forward target at the previous time as the forward target at the current time. The advantage of this arrangement is that the stability of the forward target output can be ensured, thereby improving the safety factor of the autonomous vehicle.
According to the technical scheme provided by the embodiment, potential targets of the vehicle are determined; judging whether the potential target is in a sudden change state according to the forward target of the vehicle at the previous moment; if not, taking the forward target at the previous moment as the forward target at the current moment; if yes, determining the number of mutation conditions, and determining whether to take the potential target as a forward target at the current moment according to the number of mutation conditions. According to the method and the device, the potential targets of the vehicle are determined, and the potential targets are subjected to filtering processing to determine whether the potential targets can be used as the forward targets at the current moment, so that the computational complexity caused by filtering processing of each potential target which possibly becomes the forward target in the prior art can be solved, the algorithm complexity can be reduced, and the occupied amount of a memory can be reduced; inaccuracy and instability of forward target output caused by directly taking the potential target as the forward target at the current moment can also be avoided, and stability of forward target output can be ensured.
Example two
Fig. 3 is a second flow chart of a method for determining a forward target according to an embodiment of the present application; fig. 4 is another schematic diagram of a forward target of a vehicle according to an embodiment of the present application. The embodiment of the application is optimized based on the embodiment, and is specifically: the present embodiment explains in detail whether or not to take a potential target as a forward target at the present time.
Referring to fig. 3, the method of the present embodiment includes, but is not limited to, the following steps:
s210, respectively identifying objects in front of the vehicle through at least two sensors, and taking the object closest to the vehicle as a potential target.
Wherein the at least two sensors include a vision sensor and a radar sensor.
S220, judging whether the potential target is in a sudden change state according to the forward target of the vehicle at the previous moment.
In the embodiment of the application, according to the attribute data of the forward target of the vehicle at the previous moment, whether the potential target is in the abrupt change state can be judged. If not, executing step S230; if the mutation status is the mutation status, step S240 is performed.
And S230, if not, taking 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 time, it is determined that the potential target is not the abrupt change condition, and it may be stated that the potential target and the forward target at the previous time are the same object, and then the forward target at the previous time is taken as the forward target at the current time.
Further, after the previous forward target is taken as the previous forward target at the current time, the position information of the previous forward target at the current time can be predicted according to the position information of the previous forward target at the current time. Specifically, the prediction method may be a distance-acceleration formula in a uniform acceleration motion model.
Further, after the forward target at the previous moment is taken as the forward target at the current moment, the speed information of the forward target at the previous moment at the current moment can be predicted according to the speed information of the forward target at the previous moment; and adjusting driving parameters of the vehicle according to the speed information of the forward target at the current moment. Specifically, the calculation method may be a velocity-acceleration formula in the uniform acceleration motion model.
S240, if so, determining the number of times of mutation conditions, and judging whether the number of times of mutation conditions is equal to a preset threshold value.
In this embodiment of the present application, according to attribute data of a forward target of a vehicle at a previous time, it is determined that the potential target is a sudden change condition, which may indicate that the potential target and the forward target at the previous time are not the same object, and then a counter may be used to count the number of times the sudden change condition occurs. If the number of times of the abrupt change condition is equal to the preset threshold, executing S250; if the number of abrupt changes is smaller than the preset threshold, S260 is performed.
S250, if the number of times of the mutation condition is equal to a preset threshold, taking the potential target as a forward target at the current moment, and resetting a counter for counting the number of times of the mutation condition.
In the embodiment of the present application, if the number of times of the abrupt change condition is equal to a preset threshold, which indicates that the potential target is another vehicle in an adjacent lane, and that another vehicle has a tendency to enter the front of the autonomous vehicle or has a lane line, the potential target is used as a forward target at the current time, and a counter counting the number of times of the abrupt change condition is cleared, so that the counter counts the abrupt change condition again at the next time. As shown in fig. 4, a schematic diagram is shown in which other vehicles having lane markings or having a tendency to cut into the front of an autonomous vehicle are used as forward targets.
Specifically, the process of presetting the threshold value 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 identification acquired by the visual sensor corresponding to the potential target is consistent with the identification of the forward target at the previous moment, the preset threshold is set as a first preset threshold, because the real vehicle test experience shows that the stability of the identification acquired by the visual sensor is good, and the identification jump is often caused by the instability of the identification output by fusing 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 acquired by the visual sensor corresponding to the potential target is inconsistent with the identification of the forward target at the previous moment, the preset threshold is set to be a second preset threshold which is larger than the first preset threshold, and the reason is that some fault-tolerant space is reserved for the identification jump. Wherein the first preset threshold is less 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 identification of the potential target is consistent with the identification of the forward target at the previous moment, setting a preset threshold value as a first preset threshold value, wherein the situation is often the type change caused by the loss of the vision sensor; if the identification of the potential target is inconsistent with the identification of the forward target at the previous moment, determining whether the difference between the position information of the forward target at the current moment and the position information of the potential target at the previous moment exceeds a preset distance, and if the difference does not exceed the preset distance, setting the preset threshold value as a third preset threshold value, wherein the situation is likely that a continuous single radar target appears in front due to the misidentification of an interfering object (such as a manhole cover, ground metal and the like) on the road surface. The third preset threshold value is higher, because the single radar target has instability, the reliability of the single radar target is not as stable as that of the single vision target and the fusion target, so the judgment times of the single radar target can be correspondingly higher; the first preset threshold value is smaller than the second preset threshold value, and the second preset threshold value is smaller than the third preset threshold value.
Alternatively, the first preset threshold may be 1; the second preset threshold may be 3; the third preset threshold may be 60.
Further, after the potential target is used as the forward target at the current moment, attribute data of the potential target at the current moment can be obtained, and speed information of the potential target is calculated according to the attribute data; and adjusting driving parameters of the vehicle according to the speed information of the forward target at the current moment.
And S260, if the number of times of the mutation condition is smaller than a preset threshold, taking the forward target at the previous moment as the forward target at the current moment, and reserving the statistical result of the counter so as to continuously count the mutation condition at the next moment.
In the embodiment of the present application, if the number of times of the abrupt change condition is smaller than the preset threshold, which indicates that the potential target is an interfering object, the forward target at the previous moment is taken as the forward target at the current moment, and the statistical result of the counter is reserved, so that the abrupt change condition is continuously counted at the next moment.
It should be noted that, when the number of times of the abrupt change condition is equal to a preset threshold value, or the potential target at the current moment is not the abrupt change condition, the counter needs to perform a zero clearing operation; when the number of times of the mutation condition is smaller than a preset threshold value, carrying out zero clearing operation even if the mutation condition at the next time is different from the mutation condition at the current time, and keeping the statistical result of the counter, and continuously counting the mutation condition at the next time; this has the advantage of increasing the fault tolerance and robustness of the model. There are cases where two vehicles continuously cut into the lane where the automated driving vehicle is located in adjacent lanes, and a relatively close one is cut to half without cutting, and since the counting is continued on the basis of the last counter statistics result, the vehicle cut into by the second vehicle can be selected quickly.
Further, after the forward target at the previous time is taken as the forward target at the current time, the method further comprises: 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; and adjusting 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 to determine whether the potential target is a mutation status, if not, step S230 is executed, that is, the previous forward target is taken as the current forward target; if yes, go to step S240-S260; step S240 is to determine the number of times of the mutation status, and if the number of times of the mutation status is equal to a preset threshold, step S250 is executed, that is, the potential target is taken as the forward target of the current time; if the number of abrupt changes is smaller than the preset threshold, step S260 is performed, that is, the forward target at the previous time is taken as the forward target at the current time. Step S230 and steps S240-S260 are independent of each other, and the execution sequence of these two steps is not limited in the embodiment of the present application. In steps S240 to S260, step S250 and step S260 are independent of each other, and the execution sequence of these two steps is not limited in the embodiment of the present application.
Preferably, after the system determines whether to take the potential target as the forward target at the current time or the forward target at the previous time as the forward target at the current time, the system may package and send the identification, the position information and the speed information of the forward target at the current time to the vehicle controller, so that the vehicle controller adjusts the driving parameters of the vehicle according to the information.
According to the technical scheme provided by the embodiment, at least two sensors are used for respectively identifying the object in front of the vehicle, and the object closest to the vehicle is used as a potential target; judging whether the potential target is in a sudden change state according to the forward target of the vehicle at the previous moment; if not, taking the forward target at the previous moment as the forward target at the current moment; if yes, determining the number of times of mutation; if the number of times of the mutation condition is equal to a preset threshold, taking the potential target as a forward target at the current moment, and resetting a counter for counting the number of times of the mutation condition; if the number of times of the abrupt change condition is smaller than a preset threshold, taking the forward target at the previous moment as the forward target at the current moment, and reserving the statistical result of the counter so as to continuously count the abrupt change condition at the next moment. According to the method and the device, the potential targets of the vehicle are determined, and the potential targets are subjected to filtering processing to determine whether the potential targets can be used as the forward targets at the current moment, so that the computational complexity caused by filtering processing of each potential target which possibly becomes the forward target in the prior art can be solved, the algorithm complexity can be reduced, and the occupied amount of a memory can be reduced; inaccuracy and instability of forward target output caused by directly taking the potential target as the forward target at the current moment can also be avoided, and stability of forward target output can be ensured.
Example III
Fig. 5 is a schematic structural diagram of a forward target determining device according to an embodiment of the present application, and as shown in fig. 5, the device 500 may include:
the target determining module 510 is configured to determine a potential target of the vehicle, where the potential target is an object on the current road that affects a driving state of the vehicle.
The condition judgment module 520 is configured to judge whether the potential target is a sudden change condition according to the forward target of the vehicle at the previous moment.
The first determining module 530 is configured to take the forward target at the previous time as the forward target at the current time if not.
And a second determining module 540, configured to determine, if yes, a number of times of the mutation status, and determine whether to use the potential target as a forward target of the current time according to the number of times of the mutation status.
Further, the second determining module 540 may be specifically configured to: if the number of times of the mutation condition is equal to a preset threshold, taking the potential target as a forward target of the current moment, and resetting a counter for counting the number of times of the mutation condition; and if the number of times of the mutation condition is smaller than the preset threshold, taking the forward target of the previous moment as the forward target of the current moment, and reserving the statistical result of the counter so as to continuously count the mutation condition at the next moment.
Further, the above-mentioned target determining module 510 may be specifically configured to: identifying objects in front of the vehicle through at least two sensors respectively, and taking the object closest to the vehicle as the potential target; the at least two sensors include a vision sensor and a radar sensor.
Further, the forward target determining device may further include: a location information determination module;
the position information determining module is used for predicting the position information of the previous time forward target at the current time according to the position information of the previous time forward target before judging whether the potential target is in a sudden change state according to the previous time forward target of the vehicle; and acquiring attribute data of the potential target at the current moment, and calculating the position information of the potential target 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 previous time forward target and the identification acquired by the visual sensor corresponding to the potential target is consistent with the identification of the previous time forward target, setting the preset threshold as a first preset threshold; if the identification of the potential target is inconsistent with the identification of the previous time forward target and the identification acquired by the visual sensor corresponding to the potential target is inconsistent with the identification of the previous time forward target, setting the preset threshold as a second preset threshold; when the type of the previous time forward target 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 previous time forward target, setting the preset threshold as a first preset threshold; if the identification of the potential target is inconsistent with the identification of the previous time forward target, determining whether a difference value between the position information of the previous time forward target at the current time and the position information of the potential target exceeds a preset distance, and if the difference value does not exceed the preset distance, setting the preset threshold as a third preset threshold; the first preset threshold value is smaller than the second preset threshold value, and the second preset threshold value is smaller than the third preset threshold value.
Optionally, the judging condition for judging whether the potential target is a sudden change according to the forward target of the vehicle 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 previous forward target at the previous moment, if not, the potential target is in a mutation state; judging whether the type of the potential target is consistent with the type of the previous forward target at the previous moment, if not, the potential target is in a mutation state; and judging whether the difference value between the position information of the potential target and the position information of the previous forward target at the current moment exceeds a preset distance, and if so, judging that the potential target is in a mutation state.
Further, the forward target determining device may further include: a first speed information determination module;
the first speed information determining module is configured to predict speed information of the previous time forward target at the current time according to speed information of the previous time forward target after taking the previous time forward target as the current time forward target; and adjusting driving parameters of the vehicle according to the speed information of the forward target at the current moment.
Further, the forward target determining device may further include: a second speed information determination module;
the second speed information determining module is used for acquiring attribute data of the potential target at the current moment after taking the potential target as the forward target at the current moment, and calculating speed information of the potential target according to the attribute data; and adjusting driving parameters of the vehicle according to the speed information of the forward target at the current moment.
The forward target determining device provided by the embodiment is applicable to the forward target determining method provided by any of the embodiments, and has corresponding functions and beneficial effects.
Example IV
Fig. 6 is a block diagram of an electronic device for implementing a forward target determination method of an embodiment of the present application, and fig. 6 shows a block diagram of an exemplary electronic device suitable for implementing an embodiment of the present application. The electronic device shown in fig. 6 is only an example and should not be construed as limiting the functionality and scope of use of the embodiments herein. The electronic device may typically be a smart phone, a tablet computer, a notebook computer, a vehicle-mounted terminal, a wearable device, etc. Preferably, the electronic device in the embodiment of the present application may be an autonomous vehicle.
As shown in fig. 6, the electronic device 600 is in the form of a general purpose computing device. Components of electronic device 600 may include, but are not limited to: one or more processors or processing units 616, a memory 628, and a bus 618 that connects the various system components (including the memory 628 and processing units 616).
A program/utility 640 having a set (at least one) of program modules 642 may be stored in, for example, the memory 628, such program modules 642 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment. Program modules 642 generally perform the functions and/or methods described in the embodiments herein.
The electronic device 600 may also communicate with one or more external devices 614 (e.g., keyboard, pointing device, display 624, etc.), one or more devices that enable a user to interact with the electronic device 600, and/or any device (e.g., network card, modem, etc.) that enables the electronic device 600 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 622. Also, the electronic device 600 may communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN) and/or a public network, such as the Internet, through the network adapter 620. As shown in fig. 6, network adapter 620 communicates with other modules of electronic device 600 over bus 618. It should be appreciated that although not shown in fig. 6, other hardware and/or software modules may be used in connection with electronic device 600, including, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.
The processing unit 616 executes various functional applications and data processing by running programs stored in the memory 628, for example, implementing the forward target determination method provided in any of the embodiments of the present application.
Example five
The fifth embodiment of the present application further provides a computer readable storage medium, on which a computer program (or referred to as a computer executable instruction) is stored, where the program when executed by a processor may be used to perform the method for determining a forward target provided in any of the foregoing embodiments of the present application.
Any combination of one or more computer readable media may be employed as the computer storage media of the embodiments herein. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for embodiments of the present application may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. 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 the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
Claims (9)
1. A method of forward targeting, the method comprising:
determining a potential target of the vehicle, wherein the potential target refers to an object affecting the driving state of the vehicle on a current road;
judging whether the potential target is a sudden change state according to the forward target of the vehicle at the previous moment; if not, taking the forward target at the previous moment as the forward target at the current moment;
if yes, determining the times of the mutation conditions, and determining whether the potential target is used as a forward target of the current moment according to the times of the mutation conditions;
wherein the judging condition for judging whether the potential target is the abrupt change state according to the forward target of the vehicle at the previous moment comprises at least one of the following:
judging whether the identification of the potential target is consistent with the identification of the previous forward target at the previous moment, if not, the potential target is in a mutation state;
judging whether the type of the potential target is consistent with the type of the previous forward target at the previous moment, if not, the potential target is in a mutation state;
and judging whether the difference value between the position information of the potential target and the position information of the previous forward target at the current moment exceeds a preset distance, and if so, judging that the potential target is in a mutation state.
2. The method according to claim 1, wherein determining whether to take the potential target as the forward target of the current time based on the number of abrupt change conditions includes:
if the number of times of the mutation condition is equal to a preset threshold, taking the potential target as a forward target of the current moment, and resetting a counter for counting the number of times of the mutation condition;
and if the number of times of the mutation condition is smaller than the preset threshold, taking the forward target of the previous moment as the forward target of the current moment, and reserving the statistical result of the counter so as to continuously count the mutation condition at the next moment.
3. The method of determining a forward target according to claim 1, wherein the determining a potential target of a vehicle comprises:
identifying objects in front of the vehicle through at least two sensors respectively, and taking the object closest to the vehicle as the potential target; the at least two sensors include a vision sensor and a radar sensor.
4. The method according to claim 1, characterized by comprising, before judging whether the potential target is a sudden change condition based on the forward target of the vehicle at the previous time, the steps of:
Predicting the position information of the previous time forward target at the current time according to the position information of the previous time forward target;
and acquiring attribute data of the potential target at the current moment, and calculating the position information of the potential target according to the attribute data.
5. The method for determining a forward target according to claim 2, wherein the setting process of the preset threshold value 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 previous time forward target and the identification acquired by the visual sensor corresponding to the potential target is consistent with the identification of the previous time forward target, setting the preset threshold as a first preset threshold; if the identification of the potential target is inconsistent with the identification of the previous time forward target and the identification acquired by the visual sensor corresponding to the potential target is inconsistent with the identification of the previous time forward target, setting the preset threshold as a second preset threshold;
when the type of the previous time forward target 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 previous time forward target, setting the preset threshold as a first preset threshold; if the identification of the potential target is inconsistent with the identification of the previous time forward target, determining whether a difference value between the position information of the previous time forward target at the current time and the position information of the potential target exceeds a preset distance, and if the difference value does not exceed the preset distance, setting the preset threshold as a third preset threshold; the first preset threshold value is smaller than the second preset threshold value, and the second preset threshold value is smaller than the third preset threshold value.
6. The method according to claim 2, characterized by further comprising, after taking the forward target of the previous time as the forward target of the current time:
predicting the speed information of the previous time forward target at the current time according to the speed information of the previous time forward target;
and adjusting driving parameters of the vehicle according to the speed information of the forward target at the current moment.
7. The method of determining a forward target according to claim 2, further comprising, after taking the potential target as the forward target at the current time:
acquiring attribute data of the potential target at the current moment, and calculating speed information of the potential target according to the attribute data;
and adjusting driving parameters of the vehicle according to the speed information of the forward target at the current moment.
8. A forward-facing object determination apparatus, the apparatus comprising:
the target determining module is used for determining potential targets of the vehicle, wherein the potential targets are objects which influence the driving state of the vehicle on the current road;
the situation judging module is used for judging whether the potential target is a sudden change situation according to the forward target of the vehicle at the previous moment;
The first determining module is used for taking the forward target at the previous moment as the forward target at the current moment if not;
the second determining module is used for determining the times of the mutation conditions if yes, and determining whether the potential target is used as a forward target of the current moment according to the times of the mutation conditions;
wherein the judging condition for judging whether the potential target is the abrupt change state according to the forward target of the vehicle at the previous moment comprises at least one of the following:
judging whether the identification of the potential target is consistent with the identification of the previous forward target at the previous moment, if not, the potential target is in a mutation state;
judging whether the type of the potential target is consistent with the type of the previous forward target at the previous moment, if not, the potential target is in a mutation state;
and judging whether the difference value between the position information of the potential target and the position information of the previous forward target at the current moment exceeds a preset distance, and if so, judging that the potential target is in a mutation state.
9. An electronic device, the electronic device comprising:
one or more processors;
a storage means for storing one or more programs;
When executed by the one or more processors, causes the one or more processors to implement the forward targeting method of any one of claims 1 to 7.
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| CN202111226177.XA CN113895449B (en) | 2021-10-21 | 2021-10-21 | Forward target determination method and device and electronic equipment |
| PCT/CN2022/124551 WO2023066080A1 (en) | 2021-10-21 | 2022-10-11 | Forward target determination method and apparatus, electronic device and storage medium |
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| CN202111226177.XA CN113895449B (en) | 2021-10-21 | 2021-10-21 | Forward target determination method and device and electronic equipment |
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| JPH10338053A (en) * | 1997-06-06 | 1998-12-22 | Honda Motor Co Ltd | Travel controller for vehicle |
| JP3794353B2 (en) * | 2002-07-08 | 2006-07-05 | 日産自動車株式会社 | Display device for tracking control |
| US20140160295A1 (en) * | 2012-12-06 | 2014-06-12 | Honda Motor Co., Ltd. | Road condition detection |
| JP2016030548A (en) * | 2014-07-30 | 2016-03-07 | アイシン・エィ・ダブリュ株式会社 | Vehicle driving support device, vehicle driving support method, and program |
| KR102286007B1 (en) * | 2016-12-01 | 2021-08-05 | 한화디펜스 주식회사 | following cruise control method and following cruise control device |
| CN109204311B (en) * | 2017-07-04 | 2021-06-01 | 华为技术有限公司 | Automobile speed control method and device |
| CN107985310B (en) * | 2017-11-17 | 2019-11-19 | 浙江吉利汽车研究院有限公司 | A kind of adaptive cruise method and system |
| JP2019108103A (en) * | 2017-12-20 | 2019-07-04 | 本田技研工業株式会社 | Vehicle control device, vehicle control method, and program |
| CN110015297A (en) * | 2019-04-02 | 2019-07-16 | 北京海纳川汽车部件股份有限公司 | Self-adapting cruise control method, device and automatic driving vehicle |
| CN112172835B (en) * | 2020-09-17 | 2022-01-04 | 中国第一汽车股份有限公司 | Vehicle early warning method, device, equipment and storage medium |
| CN112356845B (en) * | 2020-11-19 | 2022-02-18 | 中国第一汽车股份有限公司 | Method, device and equipment for predicting motion state of target and vehicle |
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