CN115097156B - Speed estimation method and device for obstacle in automatic driving and electronic equipment - Google Patents

Speed estimation method and device for obstacle in automatic driving and electronic equipment Download PDF

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CN115097156B
CN115097156B CN202210882790.5A CN202210882790A CN115097156B CN 115097156 B CN115097156 B CN 115097156B CN 202210882790 A CN202210882790 A CN 202210882790A CN 115097156 B CN115097156 B CN 115097156B
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speed
value
target
estimate
obstacle
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CN115097156A (en
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高涵
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Beijing Baidu Netcom Science and Technology Co Ltd
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Beijing Baidu Netcom Science and Technology Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/36—Devices characterised by the use of optical means, e.g. using infrared, visible, or ultraviolet light
    • G01P3/38—Devices characterised by the use of optical means, e.g. using infrared, visible, or ultraviolet light using photographic means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P13/00—Indicating or recording presence, absence, or direction, of movement
    • G01P13/02—Indicating direction only, e.g. by weather vane
    • 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
    • G01S13/589—Velocity or trajectory determination systems; Sense-of-movement determination systems measuring the velocity vector
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Power Engineering (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The application discloses a speed estimation method and device for an obstacle in automatic driving and electronic equipment, and relates to the field of automatic driving data processing in the field of data processing. The specific implementation scheme is as follows: a speed estimation method of an obstacle, applied to a vehicle, comprising: acquiring a first speed estimated value and at least one second speed estimated value of a target obstacle, wherein the first speed estimated value is a speed value estimated based on speed detection information of the target obstacle at the current moment; the second speed estimated value is a speed estimated value of a historical moment of the target obstacle before the current moment; a target speed value is determined based on the first speed estimate and at least one second speed estimate, wherein the target speed value is used to control the vehicle to travel. The technical scheme of the application can solve the problem of inaccurate speed estimation of the obstacle in the prior art.

Description

Speed estimation method and device for obstacle in automatic driving and electronic equipment
The application relates to a Chinese patent application number submitted in China for 5 months and 15 days in 2020: no.202010411759.4, the application is named: a speed estimation method and device for an obstacle and a divisional application of the application and creation of electronic equipment are provided.
Technical Field
The present invention relates to the field of automatic driving data processing in the field of data processing, and in particular, to a method and an apparatus for estimating speed of an obstacle in automatic driving, and an electronic device.
Background
With the development of automatic driving technology, various unmanned automobiles are on the market. When the existing unmanned vehicle is in the automatic driving mode, the detection element of the unmanned vehicle is generally required to detect the obstacle in the driving direction, and estimate the speed of the obstacle based on the detection result, so as to avoid the problem that the unmanned vehicle collides with the obstacle. However, when the road environment is complex, there may be a large error in the detection result of the obstacle by the detection element, and this may cause a problem that the speed estimation of the obstacle is inaccurate.
Disclosure of Invention
The application provides a speed estimation method and device for an obstacle in automatic driving and electronic equipment, and aims to solve the problem that speed estimation for the obstacle is inaccurate in the prior art.
In a first aspect, the present application provides a method for estimating a speed of an obstacle in automatic driving, applied to a vehicle, comprising:
acquiring a first speed estimated value and at least one second speed estimated value of a target obstacle, wherein the first speed estimated value is a speed value estimated based on speed detection information of the target obstacle at the current moment; the second speed estimated value is a speed estimated value of a historical moment of the target obstacle before the current moment;
a target speed value is determined based on the first speed estimate and at least one second speed estimate, wherein the target speed value is used to control the vehicle to travel.
In this way, the first speed estimated value is obtained by estimating the speed detection information of the target obstacle, and the speed estimated value obtained by estimating the speed of the target obstacle at the current time is further combined with the speed estimated value obtained by estimating the speed of the target obstacle at the historical time. The accuracy of speed estimation of the target obstacle is improved.
Optionally, the determining the target speed value based on the first speed estimation value and at least one second speed estimation value includes:
determining the first speed estimate as the target speed value, in case both the first speed estimate and the at least one second speed estimate converge to a first speed value;
In this embodiment, by determining the convergence of the first speed estimation value and the at least one second speed estimation value, the problem in the prior art that the speed estimation error of the obstacle in the uniform motion state is large is solved.
Optionally, the determining the target speed value based on the first speed estimation value and at least one second speed estimation value includes:
The target speed value is determined from the at least one second speed estimate if the at least one second speed estimate is all converging to the second speed value and the first speed estimate is not converging to the second speed value.
In this embodiment, by determining the convergence of the first speed estimation value and the at least one second speed estimation value, the problem in the prior art that the speed estimation error of the obstacle in the uniform motion state is large is solved.
Optionally, the acceleration estimation values of each historical moment corresponding to the at least one second speed estimation value converge on a first acceleration value, and determining the target speed value based on the first speed estimation value and the at least one second speed estimation value includes:
Calculating a first acceleration estimation value of the target obstacle under the condition that the at least one second speed estimation value is not converged, wherein the first acceleration estimation value is an acceleration value calculated based on speed detection information of the target obstacle at the current moment and the at least one second speed estimation value;
The first speed estimation value is determined as the target speed value in a case where the first acceleration estimation value converges on the first acceleration value.
In the embodiment, the convergence of the first acceleration estimated value is calculated and judged, so that the problem of large speed estimation error of the obstacle in a uniform acceleration or uniform deceleration motion state in the prior art is solved.
Optionally, the determining the target speed value based on the first speed estimation value and at least one second speed estimation value further includes:
the target speed value is determined from the at least one second speed estimate without the first acceleration estimate converging to the first acceleration value.
In the embodiment, the convergence of the first acceleration estimated value is calculated and judged, so that the problem of large speed estimation error of the obstacle in a uniform acceleration or uniform deceleration motion state in the prior art is solved.
Optionally, the determining the target speed value based on the first speed estimation value and at least one second speed estimation value includes:
Acquiring the speed direction of the target obstacle, wherein the speed direction is estimated based on the speed detection information of the target obstacle at the current moment;
Calculating a first included angle value and a second included angle value, wherein the first included angle value is an included angle value between the speed direction and the direction of the vehicle, and the second included angle value is an included angle value between the speed direction and the direction of the road where the obstacle is located;
And under the condition that the difference value between the first included angle value and the second included angle value is larger than a preset value, determining the target speed value according to the at least one second speed estimated value.
In the embodiment, the problem of inaccurate speed and direction estimation of the target obstacle in the prior art is solved by judging the relative size between the first included angle value and the second included angle value.
Optionally, the determining the target speed value according to the at least one second speed estimation value includes:
Determining a second speed estimated value of a first historical time as the target speed value, wherein the first historical time is the historical time closest to the current time in all the historical times corresponding to the at least one second speed estimated value;
Or determining an average of the at least one second speed estimate as the target speed value.
In this embodiment, the problem of how to estimate the current speed of the target obstacle in the case where there may be a large error in the first speed estimation value is solved by determining the second speed estimation value at the first historical time as the target speed value or determining the average value of the at least one second speed estimation value as the target speed value.
In a second aspect, the present application provides a speed estimation device for an obstacle in automatic driving, applied to a vehicle, comprising:
The device comprises an acquisition module, a speed detection module and a speed detection module, wherein the acquisition module is used for acquiring a first speed estimated value and at least one second speed estimated value of a target obstacle, wherein the first speed estimated value is a speed value estimated based on speed detection information of the target obstacle at the current moment; the second speed estimated value is a speed estimated value of a historical moment of the target obstacle before the current moment;
The determining module is used for determining a target speed value based on the first speed estimated value and at least one second speed estimated value, wherein the target speed value is used for controlling the vehicle to run.
Optionally, the determining module is configured to determine the first speed estimation value as the target speed value if the first speed estimation value and the at least one second speed estimation value both converge to the first speed value.
Optionally, the determining module is configured to determine the target speed value according to the at least one second speed estimation value, where the at least one second speed estimation value is converged to the first speed value and the first speed estimation value is not converged to the first speed value.
Optionally, the acceleration estimated value of each historical moment corresponding to the at least one second velocity estimated value converges to a first acceleration value, and the apparatus further includes:
A calculating module, configured to calculate, when the at least one second speed estimated value does not converge, a first acceleration estimated value of the target obstacle, where the first acceleration estimated value is an acceleration value calculated based on speed detection information of the target obstacle at a current time and the at least one second speed estimated value;
The determining module is configured to determine the first speed estimation value as the target speed value in a case where the first acceleration estimation value converges on the first acceleration value.
Optionally, the determining module is further configured to determine the target speed value according to the at least one second speed estimation value in a case where the first acceleration estimation value does not converge to the first acceleration value.
Optionally, the determining module includes:
The speed detection module is used for detecting the speed of the target obstacle according to the speed detection information of the target obstacle at the current moment, and acquiring a speed direction of the target obstacle according to the speed detection information of the target obstacle at the current moment;
the calculating sub-module is used for calculating a first included angle value and a second included angle value, wherein the first included angle value is an included angle value between the speed direction and the direction of the vehicle, and the second included angle value is an included angle value between the speed direction and the direction of the road where the obstacle is located;
And the determining submodule is used for determining the target speed value according to the at least one second speed estimated value under the condition that the difference value between the first included angle value and the second included angle value is larger than a preset value.
Optionally, the determining module is configured to determine a second speed estimated value of a first historical time as the target speed value, where the first historical time is a historical time closest to a current time in the historical times corresponding to the at least one second speed estimated value;
Or the determining module is configured to determine an average value of the at least one second speed estimation value as the target speed value.
In a third aspect, the present application provides an electronic device comprising:
at least one processor; and
A memory communicatively coupled to the at least one processor; wherein,
The memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method for estimating speed of an obstacle in autopilot provided by the present application.
In a fourth aspect, the present application provides a non-transitory computer-readable storage medium storing computer instructions for causing the computer to execute the method for estimating the speed of an obstacle in autopilot provided by the present application.
In a fifth aspect, the present application provides a computer program product comprising a computer program which, when executed by a processor, implements the method for estimating the speed of an obstacle in autopilot provided by embodiments of the present application.
One embodiment of the above application has the following advantages or benefits: and on the basis of estimating the speed detection information of the target obstacle to obtain a first speed estimated value, further combining the speed estimated value obtained by estimating the speed of the target obstacle at the historical moment to determine the target speed value of the target obstacle at the current moment. The accuracy of speed estimation of the target obstacle is improved.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the disclosure, nor is it intended to be used to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following specification.
Drawings
The drawings are included to provide a better understanding of the present application and are not to be construed as limiting the application. Wherein:
Fig. 1 is a flowchart of a method of estimating a speed of an obstacle in automatic driving provided in an embodiment of the present application;
fig. 2 is a schematic structural view of a speed estimation device for an obstacle in automatic driving according to an embodiment of the present application;
Fig. 3 is a block diagram of an electronic device for implementing a method of estimating speed of an obstacle in autopilot in accordance with an embodiment of the present application.
Detailed Description
Exemplary embodiments of the present application will now be described with reference to the accompanying drawings, in which various details of the embodiments of the present application are included to facilitate understanding, and are to be considered merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the application. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
Referring to fig. 1, fig. 1 is a speed estimation method of an obstacle in automatic driving, provided by an embodiment of the invention, applied to a vehicle, including:
Step 101, acquiring a first speed estimated value and at least one second speed estimated value of a target obstacle, wherein the first speed estimated value is a speed value estimated based on speed detection information of the target obstacle at the current moment; the second speed estimation value is a speed estimation value of a historical time before the current time of the target obstacle.
The vehicle may be an unmanned vehicle, or may be a vehicle having an unmanned mode. The target obstacle may be another vehicle in the vehicle traveling direction, or may be a fixed obstacle on a road on which the vehicle travels. It should be noted that the number of the obstacle may be one or more, and when there are a plurality of obstacles, the speed of the plurality of obstacles may be estimated by the unmanned vehicle at the same time, and in order to avoid confusion, the method provided by the present application will be further explained by taking speed estimation for a certain target obstacle of the unmanned vehicle during driving as an example.
The speed detection information may be image information collected by a visual sensor mounted on the unmanned vehicle, and the visual sensor may be a passive visual sensor such as a monocular camera, where the passive visual sensor may continuously photograph a driving direction of the unmanned vehicle, so as to photograph obstacle information on the driving direction of the unmanned vehicle. Then, the velocity estimation can be performed on each frame of image captured by the passive vision sensor based on the kalman filter velocity estimation method to determine velocity information of the target obstacle. The speed detection information may be movement state information of an obstacle acquired by an in-vehicle radar.
Specifically, the first speed estimation value can be obtained by performing speed estimation on a picture currently shot by the passive vision sensor. Since the vehicle control unit of the unmanned vehicle needs to grasp the speed information of the target obstacle on the road surface in real time so as to control the unmanned vehicle, the unmanned vehicle estimates the speed of the target obstacle at each moment, and thus, when the speed at the current moment needs to be estimated, the at least one second speed estimated value can be obtained through the historical estimated speed maintained by the vehicle control unit. The target speed value refers to a final speed estimated value obtained by combining the first speed estimated value and at least one second speed estimated value to estimate the speed at the current moment.
The at least one second speed estimation value may be speed estimation values corresponding to all pictures taken from the first time point to the current time point. It can be seen that the at least one second speed estimated value and the target speed value are actually speed estimated values corresponding to a plurality of adjacent moments, that is, speed estimated values obtained by estimating a plurality of frames of pictures continuously shot by the passive vision sensor. Preferably, the first time point may be a time point that is relatively close to the current time point, for example, n seconds may be pushed forward as the first time point based on the current time point, where n may be 1, 3, 5, 7, and so on.
Step 102, determining a target speed value based on the first speed estimated value and at least one second speed estimated value, wherein the target speed value is used for controlling the vehicle to run.
Since the above-mentioned first speed estimation value is based on capturing a target obstacle and is a speed estimation value obtained by estimation, the accuracy of the first speed estimation value is greatly affected by the captured environment, for example, when there are disturbance factors such as rain, fog, etc. at the time of capturing, there is a problem that a captured picture is unclear and the first speed estimation value obtained by speed estimation based on the picture is greatly different from the actual speed value. For this purpose, the present embodiment verifies the accuracy of the first speed estimation value by further estimating the speed of the obstacle in combination with at least one second speed estimation value.
Specifically, as can be seen from the foregoing discussion, the at least one second speed estimated value and the target speed value may be speed estimated values corresponding to a plurality of adjacent moments, so after the at least one second speed estimated value is obtained, the second speed estimated value before the current time point may be analyzed to analyze the current running state of the target obstacle and predict the speed at the current time point. Further, since the speed of the target obstacle in a small time period (for example, 1 second, 3 seconds, 5 seconds, etc.) can be equivalent to one of uniform speed, uniform acceleration or uniform deceleration, a speed estimated value close to the actual speed estimated value of the target obstacle can be obtained by acquiring at least one second speed estimated value in a small time period adjacent to the current time before the current time and estimating the speed at the current time based on the at least one second speed estimated value. In this way, it is possible to verify whether the first speed estimation value is accurate by comparing the current time speed estimation value estimated based on at least one second speed estimation value with the first speed estimation value. Therefore, the problem of larger estimation error generated when speed estimation is carried out on the obstacle can be avoided.
In the embodiment of the application, the speed estimation value obtained by estimating the speed of the target obstacle at the historical moment is further combined on the basis of the first speed estimation value obtained by estimating the speed detection information of the target obstacle, so that the target speed value of the target obstacle at the current moment is determined. The accuracy of speed estimation of the target obstacle is improved.
Optionally, the determining the target speed value based on the first speed estimation value and at least one second speed estimation value includes:
The first speed estimate is determined as the target speed value, in case both the first speed estimate and the at least one second speed estimate converge to a first speed value.
Wherein the convergence of the first speed estimate and the at least one second speed estimate to the first speed value may refer to: the first speed estimation value and the at least one second speed estimation value each fluctuate in the vicinity of the first speed value, and the fluctuation range is relatively small, for example, the first speed value may be regarded as the center, and a speed estimation value whose fluctuation size is 5% of the first speed value may be regarded as a speed estimation value converging on the first speed value. For another example, when the first speed value is 50km/h, the corresponding convergence interval is [47.5, 52.5], and if the magnitudes of the first speed estimated value and the at least one second speed estimated value are within [47.5, 52.5], the first speed estimated value and the at least one second speed estimated value can be determined to be converged to the first speed value.
Since the at least one second speed estimate converges to a first speed value, it may be inferred that the target obstacle is currently likely to be in constant motion, and when the first speed estimate also converges to the first speed value, the same conclusion as inferred based on the at least one second speed estimate may be determined that the estimated first speed estimate is a relatively accurate speed estimate, in which case the first speed estimate is determined to be the target speed value.
In this embodiment, by determining the convergence of the first speed estimation value and the at least one second speed estimation value, the problem in the prior art that the speed estimation error of the obstacle in the uniform motion state is large is solved.
Optionally, the determining the target speed value based on the first speed estimation value and at least one second speed estimation value includes:
The target speed value is determined from the at least one second speed estimate if the at least one second speed estimate is all converging to the second speed value and the first speed estimate is not converging to the second speed value.
Wherein the convergence of the first speed estimate and the at least one second speed estimate to the second speed value may refer to: the first speed estimate and the at least one second speed estimate each fluctuate around a second speed value, and the fluctuation range is relatively small. The second speed value may be the same as the first speed value in the above embodiment, or may be different from the first speed value.
Since the at least one second velocity estimation value is converged on the second velocity value, it can be inferred that the target obstacle is currently likely to be in a uniform motion state. When the first speed estimate does not converge to the second speed estimate, the estimate is not the same as the conclusion inferred based on the at least one second speed estimate, and therefore the estimate may be a more erroneous estimate, to avoid over-estimation of speed, where the current target speed value is estimated by the at least one second speed estimate, thereby reducing the error in speed estimation.
In this embodiment, by determining the convergence of the first speed estimation value and the at least one second speed estimation value, the problem in the prior art that the speed estimation error of the obstacle in the uniform motion state is large is solved.
Optionally, the acceleration estimation values of each historical moment corresponding to the at least one second speed estimation value converge on a first acceleration value, and determining the target speed value based on the first speed estimation value and the at least one second speed estimation value includes:
Calculating a first acceleration estimation value of the target obstacle under the condition that the at least one second speed estimation value is not converged, wherein the first acceleration estimation value is an acceleration value calculated based on speed detection information of the target obstacle at the current moment and the at least one second speed estimation value;
The first speed estimation value is determined as the target speed value in a case where the first acceleration estimation value converges on the first acceleration value.
Since the at least one second velocity estimation value is selected from a velocity estimation value in a small time period (for example, 1 second, 3 seconds, 5 seconds, etc.), the velocity of the target obstacle can be equivalent to one of uniform velocity, uniform acceleration, or uniform deceleration in the time period, and at this time, the acceleration of the target obstacle is a relatively fixed value no matter what motion state the target obstacle is in, so that it can be determined that the acceleration estimation value at each historical moment corresponding to the at least one second velocity estimation value converges to the first acceleration value. In addition, the convergence of the acceleration estimation values at each of the historical moments corresponding to the at least one second velocity estimation value to the first acceleration value may mean that: the acceleration estimated value at each historical time corresponding to the at least one second velocity estimated value fluctuates around the first acceleration value, and the fluctuation range is relatively small, for example, the first acceleration value may be regarded as the center, and an acceleration estimated value whose fluctuation size is 5% of the first acceleration value may be regarded as an acceleration estimated value converged to the first acceleration value.
Since the speed of the target obstacle is different at each time when the target obstacle is in the uniform acceleration or uniform acceleration state, the at least one second speed estimation value does not converge to the first speed value or the second speed value, and in this case, since the acceleration estimation value at each historical time corresponding to the at least one second speed estimation value converges to the first acceleration value, it is possible to determine whether the first speed estimation value is abnormal by determining whether the acceleration value at the current time converges to the first acceleration value.
The current first acceleration estimated value can be calculated by subtracting the second speed estimated value of the previous moment from the first speed estimated value of the current moment and dividing the difference by the time difference between the two, and whether the first speed estimated value is abnormal can be judged by judging whether the first acceleration estimated value is converged to the first acceleration value or not.
Specifically, in the case where the at least one second speed estimation value does not converge, it may be inferred that the target obstacle is currently in a state of uniform acceleration or uniform deceleration motion, and based on the above discussion, it may be inferred that the current acceleration value is a first acceleration value, and thus, whether or not there is an abnormality in the first speed estimation value may be determined by determining whether or not the current first acceleration estimation value converges on the first acceleration. When the first acceleration estimated value converges on the first acceleration, since the first acceleration estimated value is calculated based on the first speed estimated value, the calculation result based on the first speed estimated value is the same as the above-described conclusion, and therefore, it can be determined that the estimated first speed estimated value is a relatively accurate speed estimated value, in this case, the first speed estimated value is determined as the target speed value.
In the embodiment, the convergence of the first acceleration estimated value is calculated and judged, so that the problem of large speed estimation error of the obstacle in a uniform acceleration or uniform deceleration motion state in the prior art is solved.
Optionally, the determining the target speed value based on the first speed estimation value and at least one second speed estimation value further includes:
the target speed value is determined from the at least one second speed estimate without the first acceleration estimate converging to the first acceleration value.
Specifically, when the first acceleration estimated value does not converge to the first acceleration, it does not coincide with the above conclusion, and therefore, the estimated value may be an estimated value with a larger error, in order to avoid an excessive speed estimation error, at this time, the current target speed value is estimated by at least one second speed estimated value, so that the error of speed estimation is reduced.
In the embodiment, the convergence of the first acceleration estimated value is calculated and judged, so that the problem of large speed estimation error of the obstacle in a uniform acceleration or uniform deceleration motion state in the prior art is solved.
Optionally, the determining the target speed value based on the first speed estimation value and at least one second speed estimation value includes:
Acquiring the speed direction of the target obstacle, wherein the speed direction is estimated based on the speed detection information of the target obstacle at the current moment;
Calculating a first included angle value and a second included angle value, wherein the first included angle value is an included angle value between the speed direction and the direction of the vehicle, and the second included angle value is an included angle value between the speed direction and the direction of the road where the obstacle is located;
And under the condition that the difference value between the first included angle value and the second included angle value is larger than a preset value, determining the target speed value according to the at least one second speed estimated value.
Since the estimation of the current speed may have an error in the direction of the speed in addition to the error in the speed, the current estimated speed direction may be further judged to determine whether the speed result based on the speed detection information of the target obstacle is accurate.
Specifically, the direction of the road where the target obstacle is located may refer to the direction of the lane line on the road where the target obstacle is located, and since the image taken by the passive vision sensor generally includes the target obstacle and the lane line beside the target obstacle, the second angle value may be determined directly from the image taken by the passive vision sensor. The second angle value is a relatively accurate value since it is measured directly from the same picture. Since the body orientation of the unmanned vehicle is generally consistent with the direction of the road on which the target obstacle is located, and the body orientation of the unmanned vehicle belongs to the information of the unmanned vehicle itself, the body orientation of the unmanned vehicle can be acquired relatively accurately. Based on this, the estimated speed direction of the target obstacle may be checked based on the above-mentioned second angle value and the body orientation of the unmanned vehicle, if the first angle value between the estimated speed direction and the body orientation of the unmanned vehicle is the same as or is close to the second angle value, it may be inferred that the estimated speed direction of the target obstacle is a relatively accurate value, if the first angle value between the estimated speed direction and the body orientation of the unmanned vehicle differs greatly from the second angle value, it may be inferred that there may be a large error in the estimated speed direction, and since there is an error in the current speed direction estimation of the target obstacle, even if there is no error in the current speed estimation of the target obstacle, there may be an erroneous action of the unmanned vehicle, and therefore, in this case, the target speed value is determined based on the at least one second speed estimation value, and thus the error in the speed estimation may be reduced.
In the embodiment, the problem of inaccurate speed and direction estimation of the target obstacle in the prior art is solved by judging the relative size between the first included angle value and the second included angle value.
Optionally, the determining the target speed value according to the at least one second speed estimation value includes:
Determining a second speed estimated value of a first historical time as the target speed value, wherein the first historical time is the historical time closest to the current time in all the historical times corresponding to the at least one second speed estimated value;
Or determining an average of the at least one second speed estimate as the target speed value.
Wherein the target speed value may be determined from the at least one second speed estimation value in case it is determined that there may be a large error in the first speed estimation value estimated based on the speed detection information. Specifically, since the time interval between two adjacent frames of pictures continuously shot by the passive vision sensor when the target obstacle is detected is very small, the speeds of the adjacent frames of pictures are similar, and when a large error may exist in the first speed estimated value obtained based on the current frame of picture, the second speed estimated value of the previous frame of picture corresponding to the current frame of picture can be used as the target speed value of the current time, so that the error of speed estimation of the target obstacle is effectively reduced.
In addition to taking the second speed estimated value at the time corresponding to the previous frame of picture as the target speed value at the current time, the average value of the at least one second speed estimated value may be determined as the target speed value, and as can be seen from the above discussion, the at least one second speed estimated value is the overall speed estimated value of the target obstacle in the time period adjacent to the current time point and having a smaller range, so that the speed change of the target obstacle in the time period is not particularly large, and the error of the speed estimation of the target obstacle can be reduced similarly and effectively by calculating the average value of the speed estimated values in the time period and taking the average value as the target speed value.
In this embodiment, the problem of how to estimate the current speed of the target obstacle in the case where there may be a large error in the first speed estimation value is solved by determining the second speed estimation value at the first historical time as the target speed value or determining the average value of the at least one second speed estimation value as the target speed value.
Referring to fig. 2, fig. 2 is a speed estimation device 200 for an obstacle in automatic driving, which is applied to a vehicle and includes:
an obtaining module 201, configured to obtain a first speed estimation value and at least one second speed estimation value of a target obstacle, where the first speed estimation value is a speed value estimated based on speed detection information of the target obstacle at a current time; the second speed estimated value is a speed estimated value of a historical moment of the target obstacle before the current moment;
a determining module 202 is configured to determine a target speed value based on the first speed estimation value and at least one second speed estimation value, where the target speed value is used to control the vehicle to travel.
Optionally, the determining module 202 is configured to determine the first speed estimate value as the target speed value if the first speed estimate value and the at least one second speed estimate value both converge to the first speed value.
Optionally, the determining module 202 is configured to determine the target speed value according to the at least one second speed estimation value, where the at least one second speed estimation value is converged to the second speed value and the first speed estimation value is not converged to the second speed value.
Optionally, the acceleration estimated value of each historical moment corresponding to the at least one second velocity estimated value converges to a first acceleration value, and the apparatus further includes:
A calculating module, configured to calculate, when the at least one second speed estimated value does not converge, a first acceleration estimated value of the target obstacle, where the first acceleration estimated value is an acceleration value calculated based on speed detection information of the target obstacle at a current time and the at least one second speed estimated value;
the determining module 202 is configured to determine the first speed estimate as the target speed value if the first acceleration estimate converges to the first acceleration value.
Optionally, the determining module 202 is further configured to determine the target speed value according to the at least one second speed estimation value in case the first acceleration estimation value does not converge to the first acceleration value.
Optionally, the determining module 202 includes:
The speed detection module is used for detecting the speed of the target obstacle according to the speed detection information of the target obstacle at the current moment, and acquiring a speed direction of the target obstacle according to the speed detection information of the target obstacle at the current moment;
the calculating sub-module is used for calculating a first included angle value and a second included angle value, wherein the first included angle value is an included angle value between the speed direction and the direction of the vehicle, and the second included angle value is an included angle value between the speed direction and the direction of the road where the obstacle is located;
And the determining submodule is used for determining the target speed value according to the at least one second speed estimated value under the condition that the difference value between the first included angle value and the second included angle value is larger than a preset value.
Optionally, the determining module 202 is configured to determine a second speed estimated value of a first historical time as the target speed value, where the first historical time is a historical time closest to a current time in the historical times corresponding to the at least one second speed estimated value;
or the determining module 202 is configured to determine an average value of the at least one second speed estimation value as the target speed value.
The device provided in this embodiment can implement each process implemented in the method embodiment shown in fig. 1, and can achieve the same beneficial effects, so that repetition is avoided, and no further description is given here.
According to an embodiment of the present application, the present application also provides an electronic device and a readable storage medium.
The present application provides a computer program product comprising a computer program which, when executed by a processor, implements the respective processes of the method embodiment shown in fig. 1 and achieves the same advantageous effects, and is not described here in detail to avoid repetition.
As shown in fig. 3, there is a block diagram of an electronic device of a speed estimation method of an obstacle in automatic driving according to an embodiment of the present application. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the applications described and/or claimed herein.
As shown in fig. 3, the electronic device includes: one or more processors 301, memory 302, and interfaces for connecting the various components, including high-speed interfaces and low-speed interfaces. The various components are interconnected using different buses and may be mounted on a common motherboard or in other manners as desired. The processor may process instructions executing within the electronic device, including instructions stored in or on memory to display graphical information of the GUI on an external input/output device, such as a display device coupled to the interface. In other embodiments, multiple processors and/or multiple buses may be used, if desired, along with multiple memories and multiple memories. Also, multiple electronic devices may be connected, each providing a portion of the necessary operations (e.g., as a server array, a set of blade servers, or a multiprocessor system). One processor 301 is illustrated in fig. 3.
Memory 302 is a non-transitory computer readable storage medium provided by the present application. The memory stores instructions executable by the at least one processor to cause the at least one processor to perform the method for estimating speed of an obstacle in autopilot provided by the present application. The non-transitory computer-readable storage medium of the present application stores computer instructions for causing a computer to execute the method for estimating the speed of an obstacle in automatic driving provided by the present application.
The memory 302 is used as a non-transitory computer readable storage medium for storing non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules (e.g., the acquisition module 201 and the determination module 202 shown in fig. 2) corresponding to the method for estimating the speed of an obstacle in automatic driving in an embodiment of the present application. The processor 301 executes various functional applications of the server and data processing, i.e., implements the speed estimation method of the obstacle in automatic driving in the above-described method embodiment, by running non-transitory software programs, instructions, and modules stored in the memory 302.
Memory 302 may include a storage program area that may store an operating system, at least one application program required for functionality, and a storage data area; the storage data area may store data created according to the use of the electronic device of the speed estimation method of the obstacle in automatic driving, and the like. In addition, memory 302 may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory 302 may optionally include memory remotely located relative to processor 301, which may be connected to the electronics of the method of speed estimation of an obstacle in autopilot 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 electronic device of the speed estimation method of the obstacle in automatic driving may further include: an input device 303 and an output device 304. The processor 301, memory 302, input device 303, and output device 304 may be connected by a bus or other means, for example in fig. 3.
The input device 303 may receive input numeric or character information and generate key signal inputs related to user settings and function control of the electronic device of the method of speed estimation of an obstacle in autopilot, such as input devices for a touch screen, a keypad, a mouse, a track pad, a touch pad, a pointer stick, one or more mouse buttons, a track ball, a joystick, etc. The output device 304 may include a display apparatus, auxiliary lighting devices (e.g., LEDs), haptic feedback devices (e.g., vibration motors), and the like. The display device may include, but is not limited to, a Liquid Crystal Display (LCD), a Light Emitting Diode (LED) display, and a plasma display. In some implementations, the display device may be a touch screen.
Various implementations of the systems and techniques described here can be realized in digital electronic circuitry, integrated circuitry, application specific ASIC (application specific integrated circuit), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
These computing programs (also referred to as programs, software applications, or code) include machine instructions for a programmable processor, and may be implemented in a high-level procedural and/or object-oriented programming language, and/or in assembly/machine language. As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus, and/or device (e.g., magnetic discs, optical disks, memory, programmable Logic Devices (PLDs)) used to provide machine instructions and/or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal used to provide machine instructions and/or data to a programmable processor.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and pointing device (e.g., a mouse or trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), and the internet.
The computer system may include a client and a server. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other.
According to the technical scheme of the embodiment of the application, the speed estimation value obtained by estimating the speed of the target obstacle at the historical moment is further combined on the basis of the first speed estimation value obtained by estimating the speed detection information of the target obstacle, and the target speed value of the target obstacle at the current moment is determined. The accuracy of speed estimation of the target obstacle is improved.
… It should be appreciated that the various forms of flow shown above may be used to reorder, add or delete steps. For example, the steps described in the present application may be performed in parallel, sequentially, or in a different order, provided that the desired results of the disclosed embodiments are achieved, and are not limited herein.
The above embodiments do not limit the scope of the present application. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the scope of the present application.

Claims (15)

1. A speed estimation method of an obstacle in automatic driving is applied to a vehicle and comprises the following steps:
acquiring a first speed estimated value and at least one second speed estimated value of a target obstacle, wherein the first speed estimated value is a speed value estimated based on speed detection information of the target obstacle at the current moment; the second speed estimated value is a speed estimated value of a historical moment of the target obstacle before the current moment;
determining a target speed value based on the first speed estimate and at least one second speed estimate, wherein the target speed value is used to control the vehicle to travel;
The determining a target speed value based on the first speed estimate and at least one second speed estimate comprises:
The target speed value is determined from the at least one second speed estimate if the at least one second speed estimate is all converging to a second speed value and the first speed estimate is not converging to the second speed value.
2. The method of claim 1, wherein the determining a target speed value based on the first speed estimate and at least one second speed estimate comprises:
The first speed estimate is determined as the target speed value, in case both the first speed estimate and the at least one second speed estimate converge to a first speed value.
3. The method of claim 1, wherein the acceleration estimate for each historical time corresponding to the at least one second velocity estimate converges to a first acceleration value, the determining a target velocity value based on the first velocity estimate and the at least one second velocity estimate comprising:
Calculating a first acceleration estimation value of the target obstacle under the condition that the at least one second speed estimation value is not converged, wherein the first acceleration estimation value is an acceleration value calculated based on speed detection information of the target obstacle at the current moment and the at least one second speed estimation value;
The determining a target speed value based on the first speed estimate and at least one second speed estimate comprises:
The first speed estimation value is determined as the target speed value in a case where the first acceleration estimation value converges on the first acceleration value.
4. The method of claim 3, wherein the determining a target speed value based on the first speed estimate and at least one second speed estimate further comprises:
the target speed value is determined from the at least one second speed estimate without the first acceleration estimate converging to the first acceleration value.
5. The method of claim 1, wherein the determining a target speed value based on the first speed estimate and at least one second speed estimate comprises:
Acquiring the speed direction of the target obstacle, wherein the speed direction is estimated based on the speed detection information of the target obstacle at the current moment;
calculating a first included angle value and a second included angle value, wherein the first included angle value is an included angle value between the speed direction and the direction of the vehicle, and the second included angle value is an included angle value between the speed direction and the direction of the road where the target obstacle is located;
And under the condition that the difference value between the first included angle value and the second included angle value is larger than a preset value, determining the target speed value according to the at least one second speed estimated value.
6. The method according to any one of claims 1-5, wherein said determining said target speed value from said at least one second speed estimate comprises:
Determining a second speed estimated value of a first historical time as the target speed value, wherein the first historical time is the historical time closest to the current time in all the historical times corresponding to the at least one second speed estimated value;
Or determining an average of the at least one second speed estimate as the target speed value.
7. A speed estimation device of an obstacle in automatic driving, applied to a vehicle, comprising:
The device comprises an acquisition module, a speed detection module and a speed detection module, wherein the acquisition module is used for acquiring a first speed estimated value and at least one second speed estimated value of a target obstacle, wherein the first speed estimated value is a speed value estimated based on speed detection information of the target obstacle at the current moment; the second speed estimated value is a speed estimated value of a historical moment of the target obstacle before the current moment;
A determining module configured to determine a target speed value based on the first speed estimation value and at least one second speed estimation value, wherein the target speed value is used to control the vehicle to travel;
the determining module is configured to determine the target speed value according to the at least one second speed estimation value if the at least one second speed estimation value is converged to a second speed value and the first speed estimation value is not converged to the second speed value.
8. The apparatus of claim 7, wherein the means for determining is configured to determine the first speed estimate as the target speed value if both the first speed estimate and the at least one second speed estimate converge to a first speed value.
9. The apparatus of claim 7, wherein the acceleration estimates for each historical time corresponding to the at least one second velocity estimate converge to a first acceleration value, the apparatus further comprising:
A calculating module, configured to calculate, when the at least one second speed estimated value does not converge, a first acceleration estimated value of the target obstacle, where the first acceleration estimated value is an acceleration value calculated based on speed detection information of the target obstacle at a current time and the at least one second speed estimated value;
The determining module is configured to determine the first speed estimation value as the target speed value in a case where the first acceleration estimation value converges on the first acceleration value.
10. The apparatus of claim 9, wherein the means for determining is further configured to determine the target speed value from the at least one second speed estimate if the first acceleration estimate does not converge to the first acceleration value.
11. The apparatus of claim 7, wherein the means for determining comprises:
The speed detection module is used for detecting the speed of the target obstacle according to the speed detection information of the target obstacle at the current moment, and acquiring a speed direction of the target obstacle according to the speed detection information of the target obstacle at the current moment;
the calculating sub-module is used for calculating a first included angle value and a second included angle value, wherein the first included angle value is an included angle value between the speed direction and the direction of the vehicle, and the second included angle value is an included angle value between the speed direction and the direction of the road where the target obstacle is located;
And the determining submodule is used for determining the target speed value according to the at least one second speed estimated value under the condition that the difference value between the first included angle value and the second included angle value is larger than a preset value.
12. The apparatus according to any one of claims 7-11, wherein the determining module is configured to determine, as the target speed value, a second speed estimation value of a first historical time, where the first historical time is a historical time closest to a current time among historical times corresponding to the at least one second speed estimation value;
Or the determining module is configured to determine an average value of the at least one second speed estimation value as the target speed value.
13. An electronic device, comprising:
at least one processor; and
A memory communicatively coupled to the at least one processor; wherein,
The memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-6.
14. A non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method of any one of claims 1-6.
15. A computer program product comprising a computer program which, when executed by a processor, implements the method of any of claims 1-6.
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