CN115330042A - Conflict point determination method, conflict point determination device, conflict point determination equipment, readable storage medium and program product - Google Patents
Conflict point determination method, conflict point determination device, conflict point determination equipment, readable storage medium and program product Download PDFInfo
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Abstract
The disclosure provides a conflict point determination method, a conflict point determination device, readable storage media and program products, and relates to the technical field of intelligent cities, roadside equipment and vehicle-road cooperation. The method comprises the following steps: acquiring the current positions and the current movement directions of all objects in a target area; taking a straight line which takes the current position of the object as a starting point and extends along the current motion direction as a predicted motion track of the corresponding object; determining the intersection point of any two different predicted motion tracks as a potential conflict point; and screening effective conflict points from the potential conflict points based on the time characteristics that the two objects corresponding to the potential conflict points respectively reach the potential conflict points from the current positions according to the current speed. The method only needs to acquire a small amount of motion information, and is particularly suitable for determining the conflict points with high real-time performance in the area with a plurality of traffic objects in the urban road.
Description
Technical Field
The present disclosure relates to the field of data processing technologies, and in particular, to the field of smart cities, roadside devices, and vehicle-road coordination technologies, and in particular, to a conflict point determining method, apparatus, electronic device, computer-readable storage medium, and computer program product.
Background
With the increasing of urbanization speed and the increasing of the number of urban vehicles, the difficulty of urban road management is increased.
Especially, in the areas with dense vehicles, pedestrians and obstacles such as intersections, it is important for those skilled in the art to quickly and accurately identify the positions and events that may cause collisions and to make early warning and reminding in time.
Disclosure of Invention
The embodiment of the disclosure provides a conflict point determining method and device, electronic equipment, a computer readable storage medium and a computer program product.
In a first aspect, an embodiment of the present disclosure provides a conflict point determining method, including: acquiring the current positions and current movement directions of all objects in a target area; taking a straight line which takes the current position of the object as a starting point and extends along the current motion direction as a predicted motion track of the corresponding object; determining the intersection point of any two different predicted motion tracks as a potential conflict point; and screening effective conflict points from the potential conflict points based on the time characteristics that the two objects corresponding to the potential conflict points respectively reach the potential conflict points from the current positions according to the current speed.
In a second aspect, an embodiment of the present disclosure provides a conflict point determining apparatus, including: a position and movement direction acquisition unit configured to acquire current positions and current movement directions of all objects within a target area; a predicted motion trajectory generation unit configured to take a straight line extending in a current motion direction with a current position of the object as a start point as a predicted motion trajectory of the corresponding object; a potential conflict point determination unit configured to determine an intersection of any two different predicted motion trajectories as a potential conflict point; and the effective conflict point screening unit is configured to screen effective conflict points from the potential conflict points based on the time characteristics that the two objects corresponding to the potential conflict points respectively reach the potential conflict points from the current positions at the current speeds.
In a third aspect, an embodiment of the present disclosure provides an electronic device, including: 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 cause the at least one processor to perform the method of determining a conflict point as described in any implementation manner of the first aspect when executed.
In a fourth aspect, the disclosed embodiments provide a non-transitory computer-readable storage medium storing computer instructions for enabling a computer to implement the conflict point determination method as described in any implementation manner of the first aspect when executed.
In a fifth aspect, the embodiments of the present disclosure provide a computer program product comprising a computer program, which when executed by a processor is capable of implementing the steps of the conflict point determination method as described in any implementation manner of the first aspect.
According to the conflict point determination scheme provided by the disclosure, all the potential conflict points are determined in a manner of determining the intersection point of the straight lines by only acquiring the current position, the current motion direction and the current speed corresponding to each object in the target area, and based on the predicted motion straight lines generated by the current position and the current motion direction, and then, whether the two objects reach the potential conflict points in the same time period or not is determined by combining the time difference characteristic of the two objects reaching the potential conflict points calculated based on the current speed, so that effective conflict points can be screened out from a large number of potential conflict points. The conflict point prediction method based on the urban road motion information has the advantages that only a small amount of motion information needs to be acquired, the fact whether the object has the transmission capability of accurate motion information or not is not needed, conflict point prediction is not needed based on the accurate motion track changing along with time, and the conflict point prediction method based on the urban road motion information is particularly suitable for conducting high-real-time conflict point determination operation on the area where a plurality of traffic objects exist in the urban road.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present disclosure, nor do they limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.
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Other features, objects and advantages of the present disclosure will become more apparent upon reading of the detailed description of non-limiting embodiments made with reference to the following drawings:
FIG. 1 is an exemplary system architecture to which the present disclosure may be applied;
fig. 2 is a flowchart of a conflict point determining method according to an embodiment of the disclosure;
fig. 3 is a flowchart of another conflict point determining method provided in the embodiment of the present disclosure;
fig. 4 is a flowchart of a method for screening valid conflict points based on conflict point types according to an embodiment of the present disclosure;
FIGS. 5-1, 5-2, and 5-3 are diagrams illustrating the generation of three different types of conflicts, respectively, according to embodiments of the present disclosure;
FIG. 6 is a flowchart of a method for determining a conflict avoidance measure according to an embodiment of the present disclosure;
FIG. 7 is a flowchart of another method for determining a conflict avoidance measure provided by an embodiment of the present disclosure;
fig. 8 is a block diagram of a conflict point determining apparatus according to an embodiment of the present disclosure;
fig. 9 is a schematic structural diagram of an electronic device adapted to execute the conflict point determining method according to the embodiment of the disclosure.
Detailed Description
Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the disclosure are included to assist understanding, and which are to be considered as 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 present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness. It should be noted that, in the present disclosure, the embodiments and the features of the embodiments may be combined with each other without conflict.
In the technical scheme of the disclosure, the collection, storage, use, processing, transmission, provision, disclosure and other processing of the personal information of the related user are all in accordance with the regulations of related laws and regulations and do not violate the good customs of the public order.
Fig. 1 illustrates an exemplary system architecture 100 to which embodiments of the conflict point determination method, apparatus, electronic device, and computer-readable storage medium of the present disclosure may be applied.
As shown in fig. 1, system architecture 100 may include a roadside awareness apparatus 101, a network 102, and a server 103. Network 102 is the medium used to provide a communication link between roadside aware devices 101 and server 103. Network 102 may include various connection types, such as wired, wireless communication links, or fiber optic cables, to name a few.
The roadside sensing device 101 disposed at the roadside may sense an object (e.g., a pedestrian, a vehicle, an obstacle) within a sensing area, acquire motion information thereof, and interact with the server 103 through the network 102 to receive or transmit a message or the like. Various applications for realizing information communication between the roadside sensing device 101 and the server 103 may be installed on the roadside sensing device 101 and the server 103, for example, a motion information collection application, a conflict point prediction application, an instant messaging application, and the like.
The roadside sensing device 101 and the server 102 are usually represented as hardware devices of different forms, and may also be virtual devices obtained through software virtualization in a virtual simulation or test scenario.
The server 103 may provide various services through various built-in applications, and taking a conflict point prediction class application that may provide a conflict point determination service as an example, the server 103 may receive, through the network 102, motion information of each object collected by the roadside sensing device 101 for the sensing region, and analyze and process the motion information, so as to determine an effective conflict point according to an analysis and processing result.
Since the determination of the conflict point based on the motion information needs to occupy more computing resources and stronger computing power, the conflict point determining method provided in the following embodiments of the present disclosure is generally executed by the server 103 having stronger computing power and more computing resources, and accordingly, the conflict point determining apparatus is generally disposed in the server 103. However, it should be noted that when the roadside sensing device 101 or other local computing devices also have computing capabilities and computing resources meeting the requirements, the roadside sensing device 101 or other local computing devices may also complete the above-mentioned operations performed by the routing server 103 through the conflict point prediction application installed thereon, and then output the same result as the server 103. Especially, under the condition that a plurality of computing devices with different computing capabilities exist at the same time, if the computing device where the conflict point prediction application determines has stronger computing capability and more computing resources are left, the current computing device can execute the above-mentioned operation, so that the computing pressure of the server 103 is appropriately reduced, and correspondingly, the conflict point determining device can also be arranged in the roadside sensing device 101 or other local computing devices. In such a case, exemplary system architecture 100 may also not include server 103 and network 102.
It should be understood that the number of roadside sensing devices, networks, and servers in FIG. 1 is merely illustrative. There may be any number of roadside sensing devices, networks, and servers, as desired for implementation.
Referring to fig. 2, fig. 2 is a flowchart of a conflict point determining method according to an embodiment of the disclosure, where the process 200 includes the following steps:
step 201: acquiring the current positions and current movement directions of all objects in a target area;
this step is intended to acquire the current positions and current moving directions of all objects within the target area by the execution subject of the conflict point determination method (e.g., the server 103 shown in fig. 1).
The target area refers to a road area which needs to be subjected to conflict point prediction or determination operation, especially an intersection with dense objects, and the objects may include: pedestrians, motor vehicles, non-motor vehicles, fixed obstacles, moving obstacles, etc. are all objects that may conflict with other objects.
The current position of the object refers to the real coordinate of the object in the target area, and is used for determining a motion starting point; the current movement direction of the object refers to a direction in which the object moves in an active or passive manner, for example, the movement direction of a pedestrian is generally the face orientation, gaze direction, toe orientation, and the like of the pedestrian, the movement direction of a vehicle is generally the head orientation, tire orientation, and the like of the vehicle, and the movement direction of an obstacle needs to be determined according to whether the obstacle is active movement or passive movement.
The current position and the current movement direction of the object can be quickly acquired by road side (sensing) equipment or other equipment capable of realizing similarity, which is arranged in or near the target area, so that the current position and the current movement direction can be quickly acquired, because the current position and the current movement direction both belong to original movement information which can be directly acquired by sensing equipment or acquisition equipment, and complex analysis and operation processing on the original movement information is not needed, equipment with common performance can also quickly determine more accurate current position and current movement direction for a large number of objects in a target intersection.
Step 202: taking a straight line which takes the current position of the object as a starting point and extends along the current motion direction as a predicted motion track of the corresponding object;
on the basis of step 201, this step is intended to determine, by the execution main body described above, a straight line extending from the current position of each object in the current movement direction thereof, and determine the straight line thus made as the predicted movement trajectory of the object. It should be noted that, because the predicted motion trajectory extends along a straight line, the predicted motion trajectory should be a straight line in practice, so as to sufficiently reduce the computational difficulty and improve the real-time performance.
Step 203: determining the intersection point of any two different predicted motion tracks as a potential conflict point;
on the basis of step 202, this step is intended to determine, by the executing entity, an intersection point generated by any two predicted motion trajectories that will intersect as a potential conflict point. That is, the potential conflict point determined by this step is determined only based on the intersection of the extended straight lines of the motion directions, and it can only be said that two objects corresponding to two predicted motion trajectories should overlap (i.e., conflict) at a certain position point in the current motion direction without considering the time factor.
Since the difficulty of calculating the potential conflict point is low without considering the time factor, a larger number of objects can be calculated at the same time under the condition of fixed calculation performance.
Step 204: and screening effective conflict points from the potential conflict points based on the time characteristics that the two objects corresponding to the potential conflict points respectively reach the potential conflict points from the current positions according to the current speed.
On the basis of step 203, this step aims to further determine that two objects actually reach the same potential conflict point at the same or similar time point by the execution subject according to the further combination time factor, and further screen out the potential conflict points satisfying this condition as valid conflict points. That is, the screening by using the time characteristics in this step is intended to remove the error condition that the time points of the two objects reaching the potential conflict points are different greatly, that is, the potential conflict points of the errors are invalid conflict points.
According to the conflict point determination method provided by the embodiment of the disclosure, all the potential conflict points are determined in a manner of determining the intersection point of straight lines based on the predicted movement straight lines generated by the current position and the current movement direction only by acquiring the current position, the current movement direction and the current speed corresponding to each object in the target area, and then whether the two objects reach the potential conflict points in the same time period or not is determined by combining with the time difference characteristic of each object reaching the potential conflict points calculated based on the current speed so as to really generate conflict, so that effective conflict points can be screened out from a large number of potential conflict points. Because only a small amount of motion information needs to be acquired, the conflict point prediction is not required to be carried out on the basis of whether the object has the transmission capability of accurate motion information or not and on the basis of an accurate motion track changing along with time, and the conflict point prediction method is particularly suitable for carrying out conflict point determination operation with high real-time performance on an area with a plurality of traffic objects in an urban road.
Referring to fig. 3, fig. 3 is a flowchart of another conflict point determining method according to an embodiment of the disclosure, where the process 300 includes the following steps:
step 301: acquiring the current positions and the current movement directions of all objects appearing in a target intersection by using road side equipment erected on a roadbed of the target intersection;
the present embodiment is directed to a case where an intersection is a target area, and aims to acquire the current positions and current movement directions of all objects appearing in the intersection via the roadside apparatus by using the roadside apparatus pre-installed on the roadbed of the intersection. Wherein, the object may include: pedestrians, motor vehicles, non-motor vehicles, fixed obstacles, moving obstacles, etc. are all objects that may conflict with other objects.
Step 302: taking a straight line which takes the current position of the object as a starting point and extends along the current motion direction as a predicted motion track of the corresponding object;
step 303: determining the intersection point of any two different predicted motion tracks as a potential conflict point;
the above steps 302-303 are the same as the steps 202-203 shown in fig. 2, and for the contents of the same parts, reference is made to the corresponding parts of the previous embodiment, which is not repeated herein.
Step 304: determining two predicted motion tracks generating potential conflict points as target predicted motion tracks;
step 305: determining an object corresponding to the target predicted motion trajectory as a target object;
Step 306: respectively calculating target time consumption of each target object reaching the potential conflict point from the current position according to the current speed, and calculating an actual time difference according to the target time consumption of each target object;
on the basis of step 305, this step is intended to calculate the target elapsed time of each target object from the current position to the potential conflict point at the current speed separately by the executing entity, and then take the difference between the target elapsed times of the two objects as the actual elapsed time difference.
In general, a larger target elapsed time value is usually subtracted from a smaller target elapsed time value to obtain a positive actual elapsed time difference. If the calculation order is not considered, absolute value processing can be selected to be performed on the calculation result so as to determine the absolute value of the result as the actual time difference.
Step 307: and determining the potential conflict points with the actual time difference meeting the preset time difference requirement as effective conflict points.
On the basis of step 306, a potential conflict point that is intended to have an actual time difference that meets the preset time difference requirement is determined as a valid conflict point by the executing entity. That is, a preset time difference requirement is set in advance based on the magnitude of the time difference, so as to determine which potential conflict points meet the preset time difference requirement in combination with the actual time difference, and thus determine the potential conflict points as the effective conflict points.
In general, the preset time difference is required to be smaller than or equal to the preset time difference, that is, a potential conflict point having an actual time difference smaller than or equal to the preset time difference is determined as an effective conflict point, and the meaning of the effective conflict point is closer to the time when two target objects respectively reach the potential conflict point, so that a conflict is easily and reliably generated.
Different from the embodiment shown in fig. 2, in the embodiment, firstly, the road side equipment erected on the roadbed of the goal intersection is provided for the specific scene of the goal intersection through the process 301 to obtain the current position and the current movement direction of each object in the intersection, so as to clarify the specific application scene type; then, a more specific implementation scheme for screening out the effective conflict points from the potential conflict points is provided through the process 304 to the step 307, that is, each potential conflict point is taken as a starting point to sequentially push the target object backwards, and then the actual time difference is finally calculated according to the target time consumed by the target object to reach the potential conflict points, so that whether the preset requirements are met or not is judged according to the preset time difference requirement, and thus a judgment result is obtained.
On the basis of the embodiment shown in fig. 3, in order to further enhance the understanding of how to determine the valid conflict point by combining the preset time difference requirement and the actual time difference, the present embodiment further provides an implementation scheme for determining the valid conflict point based on the conflict type through fig. 4, where the flow 400 includes the following steps:
step 401: determining the actual conflict type according to the generation mode of the potential conflict point;
the conflict types related to the present disclosure may include, in combination with the types of conflicts that may be generated by different objects in the real world: collision in opposite directions and rear-end collision in the same direction following. Collision collisions of opposite traveling are generally collisions caused by two objects having different motion starting points and moving directions in opposite directions, for example, collisions caused by motion of two vehicles traveling from two intersections of an intersection toward the same intersection (see the schematic diagram shown in fig. 5-1); the collision caused by the rear-end collision of the following vehicles in the same direction is generally a collision caused by the rear-end collision of the front vehicles of the two vehicles with the same movement direction and the front-end tandem movement (see the schematic diagram of fig. 5-2).
In addition to the two collision types described above, there may also be a parallel friction collision of two vehicles travelling in parallel but with reduced parallel separation of the vehicles, such as caused by turning in the same direction (see the schematic diagrams shown in fig. 5-3), in which case the screening of the valid conflict points may be adjusted to be performed based on a preset distance requirement (e.g. whether the actual separation is smaller than a preset distance, e.g. 30 cm).
Step 402: determining a preset target time difference requirement corresponding to the actual conflict type;
on the basis of step 401, this step is intended to determine a preset target time difference requirement corresponding to an actual conflict type by the execution subject, that is, a corresponding time difference requirement needs to be set for each conflict type in advance, and in combination with an actual situation, the time difference requirement set for a collision conflict should be greater than the time difference requirement set for a rear-end collision conflict. For example, when the time difference requirement set for collision conflict is 2.5 seconds or less, the time difference requirement set for rear-end collision conflict under the same intersection is 0.5 seconds or less.
Step 403: and determining the potential conflict points with the actual time difference meeting the target time difference requirement as the effective conflict points of the actual conflict type.
On the basis of step 402, this step is intended to determine, by the executing agent, a potential conflict point having an actual time difference that meets the target time difference requirement as a valid conflict point of the actual conflict type.
In this embodiment, on the basis of the embodiment shown in fig. 3, a determination on the conflict type is further introduced, so that when the actual conflict type of the current conflict point is identified, the effective conflict point is determined by using the time difference requirement set corresponding to the type, so as to improve the accuracy.
Since not all objects in the target area have the communication capability with the execution main body, when the object corresponding to the effective conflict point is confirmed to have the information receiving capability (for example, a vehicle-mounted terminal is preset in a certain type of vehicle), the reminding information of the effective conflict point can be issued to the object corresponding to the effective conflict point, so that a driver of the vehicle receiving the reminding information can timely avoid conflict based on the reminding information, for example, the driving speed is reduced, the driving direction is changed, and the like; wherein, this warning message includes: position information of the valid conflict point, and predicted generation time.
On the basis of any of the above embodiments, in order to determine how to determine collision avoidance measures for avoiding true collision generation as much as possible based on the effective conflict point after determining the effective conflict point, the present disclosure also gives different solutions from different resolution dimensions in conjunction with fig. 6 and 7, respectively.
The process 600 shown in fig. 6 includes the following steps:
step 601: acquiring the proportion of objects with information receiving capacity in a target area and the number of collision events reduced after the reminding information is issued;
the proportion of the objects with the information receiving capability in the target area is the proportion of the number of the objects with the information receiving capability in the area to the total number of all the objects.
Step 602: counting to obtain the corresponding relation between the object proportion and the number of the conflict events;
in step 601, the corresponding relationship between the object ratio and the number of conflict events is obtained by the execution subject through a statistical manner. In general, the higher the object proportion, that is, the more objects capable of receiving the reminder in time, the more the number of collision events should be reduced in the case where the avoidance measure can be taken by default based on the reminder received in time.
Step 603: a first conflict avoidance measure is determined based on the correspondence.
On the basis of step 602, the first conflict avoidance measure intended to increase the object proportion, and thus the number of reduced conflict events, is determined by the execution subject on the basis of the correspondence relationship. For example, to further increase the preset ratio of the information receiving device preset for the traveling vehicle, or to prohibit or reduce the occurrence of vehicles without the threshold information receiving device in certain areas, particularly, dense areas of objects including intersections.
In contrast to the embodiment shown in fig. 6, a flow 700 shown in fig. 7 provides another method for determining conflict avoidance measures, where the flow 700 includes the following steps:
step 701: generating a conflict point thermodynamic diagram of the target area according to the screened effective conflict points;
the step aims to generate the conflict point thermodynamic diagram of the target area by the execution main body according to the screened effective conflict points. The conflict point thermodynamic diagram calculates heat based on the number of conflict points in the same area, and then expresses different heat as images of different colors, so that the number of effective conflict points contained in different areas can be more clearly shown, and the danger degree of different areas can be reflected.
Step 702: determining a point with the heat degree exceeding a preset threshold value in the conflict point thermodynamic diagram as a conflict high-occurrence point;
on the basis of step 701, this step is intended to determine, by the executing entity, a point in the conflict point thermodynamic diagram where the temperature exceeds a preset threshold as a conflict high-occurrence point, that is, screen out an area where the number of overlapping effective conflict points is large, and then determine which places or positions are places or positions where the accident is high-occurrence.
Step 703: and determining a second collision avoidance measure based on the collision high-incidence point.
On the basis of step 702, this step is intended to determine, by the execution subject described above, a second collision avoidance measure for avoiding generation of a conflict point at the same position as much as possible based on the collision high-occurrence-point, such as providing some guidance or means on the road, to reduce the probability of the vehicle traveling to the collision high-occurrence-point.
With further reference to fig. 8, as an implementation of the methods shown in the above-mentioned figures, the present disclosure provides an embodiment of a conflict point determining apparatus, which corresponds to the method embodiment shown in fig. 2, and which can be applied in various electronic devices.
As shown in fig. 8, the conflict point determination apparatus 800 of the present embodiment may include: a position and motion direction acquisition unit 801, a predicted motion trajectory generation unit 802, a potential conflict point determination unit 803, and an effective conflict point screening unit 804. The position and movement direction acquiring unit 801 is configured to acquire current positions and current movement directions of all objects in the target area; a predicted motion trajectory generation unit 802 configured to take a straight line extending in a current motion direction with a current position of the object as a start point as a predicted motion trajectory of the corresponding object; a potential conflict point determination unit 803 configured to determine an intersection point of any two different predicted motion trajectories as a potential conflict point; and the effective conflict point screening unit 804 is configured to screen effective conflict points from the potential conflict points based on the time characteristics of the two objects corresponding to the potential conflict points reaching the potential conflict points from the respective current positions at the current speed.
In the present embodiment, in the conflict point determination apparatus 800: for specific processing of the position and motion direction obtaining unit 801, the predicted motion trajectory generating unit 802, the potential conflict point determining unit 803, and the effective conflict point screening unit 804 and technical effects thereof, reference may be made to the related descriptions of steps 201 to 204 in the corresponding embodiment of fig. 2, which are not repeated herein.
In some optional implementations of this embodiment, the position and movement direction obtaining unit 801 may be further configured to:
and acquiring the current positions and the current movement directions of all objects appearing in the target intersection by using road side equipment erected on a roadbed of the target intersection.
In some optional implementations of this embodiment, the valid conflict point screening unit 804 may include:
a target motion trajectory determination subunit configured to determine two predicted motion trajectories that generate potential conflict points as target predicted motion trajectories;
a target object determination subunit configured to determine an object corresponding to the target predicted motion trajectory as a target object;
the actual time difference calculating subunit is configured to calculate target consumed time of each target object reaching the potential conflict point from the current position according to the current speed, and calculate an actual time difference according to the target consumed time of each target object;
an effective conflict point determination subunit configured to determine a potential conflict point having an actual time difference satisfying a preset time difference requirement as an effective conflict point.
In some optional implementations of the present embodiment, the effective conflict point determining subunit may be further configured to:
determining the actual conflict type according to the generation mode of the potential conflict point; wherein the conflict types include: collision conflict of opposite running and rear-end collision conflict of same-direction following running;
determining a preset target time difference requirement corresponding to the actual conflict type; wherein, the time difference requirement preset for collision conflict is larger than the time difference requirement preset for rear-end collision conflict;
and determining the potential conflict points with the actual time difference meeting the target time difference requirement as the effective conflict points of the actual conflict type.
In some optional implementations of the present embodiment, the effective conflict point determining subunit may be further configured to:
in response to the preset time difference requirement being less than the preset time difference, determining a potential conflict point having an actual time difference less than the preset time difference as a valid conflict point.
In some optional implementations of the present embodiment, the conflict point determining apparatus 800 may further include:
the reminding information issuing unit is configured to respond to the object corresponding to the effective conflict point to have the information receiving capacity, and issue the reminding information of the effective conflict point to the object corresponding to the effective conflict point; wherein, the reminding information comprises: position information of the valid conflict point, and predicted generation time.
In some optional implementations of the present embodiment, the conflict point determining apparatus 800 may further include:
the information acquisition unit is configured to acquire the object occupation ratio with the information receiving capacity in the target area and the reduced number of conflict events after the reminding information is issued;
the corresponding relation counting unit is configured to count the corresponding relation between the object ratio and the number of the conflict events;
a first collision avoidance measure determination unit configured to determine a first collision avoidance measure based on the correspondence relationship.
In some optional implementations of this embodiment, the conflict point determining apparatus 800 may further include:
a conflict point thermodynamic diagram generating unit configured to generate a conflict point thermodynamic diagram of the target area according to the screened effective conflict points;
a conflict high-occurrence-point determining unit configured to determine a point in the conflict point thermodynamic diagram where the heat degree exceeds a preset threshold as a conflict high-occurrence-point;
a second conflict avoidance measure determination unit configured to determine a second conflict avoidance measure based on the conflict high-occurrence point.
The present embodiment exists as an embodiment of an apparatus corresponding to the method embodiment, and the conflict point determination apparatus provided in the present embodiment only needs to acquire each corresponding current position, current motion direction, and current speed in the target area, determine all potential conflict points in a manner of determining a straight line intersection point based on a predicted motion straight line generated by the current position and the current motion direction, and determine whether two objects will reach the potential conflict points in the same time period by combining a time difference characteristic of each object reaching the potential conflict points calculated based on the current speed, so as to screen out effective conflict points from a large number of potential conflict points. Because only a small amount of motion information needs to be acquired, the conflict point prediction is not required to be carried out on the basis of whether the object has the transmission capability of accurate motion information or not and on the basis of an accurate motion track changing along with time, and the conflict point prediction method is particularly suitable for carrying out conflict point determination operation with high real-time performance on an area with a plurality of traffic objects in an urban road.
According to an embodiment of the present disclosure, the present disclosure also provides an electronic device including: 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, the instructions being executable by the at least one processor to enable the at least one processor to implement the conflict point determination method described in any of the above embodiments when executed.
According to an embodiment of the present disclosure, there is also provided a readable storage medium storing computer instructions for enabling a computer to implement the conflict point determining method described in any of the above embodiments when executed.
According to an embodiment of the present disclosure, there is also provided a computer program product, which when executed by a processor is capable of implementing the conflict point determination method described in any of the above embodiments.
FIG. 9 illustrates a schematic block diagram of an example electronic device 900 that can be used to implement embodiments of the present disclosure. 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 phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not intended to limit implementations of the disclosure described and/or claimed herein.
As shown in fig. 9, the apparatus 900 includes a computing unit 901 which can perform various appropriate actions and processes in accordance with a computer program stored in a Read Only Memory (ROM) 902 or a computer program loaded from a storage unit 908 into a Random Access Memory (RAM) 903. In the RAM 903, various programs and data required for the operation of the device 900 can also be stored. The calculation unit 901, ROM 902, and RAM 903 are connected to each other via a bus 904. An input/output (I/O) interface 905 is also connected to bus 904.
A number of components in the device 900 are connected to the I/O interface 905, including: an input unit 906 such as a keyboard, a mouse, and the like; an output unit 907 such as various types of displays, speakers, and the like; a storage unit 908 such as a magnetic disk, optical disk, or the like; and a communication unit 909 such as a network card, a modem, a wireless communication transceiver, and the like. The communication unit 909 allows the device 900 to exchange information/data with other devices through a computer network such as the internet and/or various telecommunication networks.
The computing unit 901 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of the computing unit 901 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and so forth. The calculation unit 901 performs the respective methods and processes described above, such as the conflict point determination method. For example, in some embodiments, the conflict point determination method may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as storage unit 908. In some embodiments, part or all of the computer program may be loaded and/or installed onto device 900 via ROM 902 and/or communications unit 909. When the computer program is loaded into the RAM 903 and executed by the computing unit 901, one or more steps of the conflict point determination method described above may be performed. Alternatively, in other embodiments, the computing unit 901 may be configured to perform the conflict point determination method by any other suitable means (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on 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 compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
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 a pointing device (e.g., a mouse or a 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 can 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, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end 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 back-end, 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 clients and servers. A client and server are generally 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. The Server may be a cloud Server, which is also called a cloud computing Server or a cloud host, and is a host product in a cloud computing service system, so as to solve the defects of high management difficulty and weak service extensibility in the conventional physical host and Virtual Private Server (VPS) service.
According to the technical scheme of the embodiment of the disclosure, all potential conflict points are determined in a manner of determining a straight line intersection point only by acquiring the current position, the current motion direction and the current speed corresponding to each object in the target area, and based on the predicted motion straight line generated by the current position and the current motion direction, and then whether the two objects reach the potential conflict points in the same time period or not is determined by combining the time difference characteristic of the arrival of each object at the potential conflict points calculated based on the current speed, so that effective conflict points can be screened out from a large number of potential conflict points. The conflict point prediction method based on the urban road motion information has the advantages that only a small amount of motion information needs to be acquired, the fact whether the object has the transmission capability of accurate motion information or not is not needed, conflict point prediction is not needed based on the accurate motion track changing along with time, and the conflict point prediction method based on the urban road motion information is particularly suitable for conducting high-real-time conflict point determination operation on the area where a plurality of traffic objects exist in the urban road.
It should be understood that various forms of the flows shown above, reordering, adding or deleting steps, may be used. For example, the steps described in the present disclosure may be executed in parallel, sequentially, or in different orders, as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved, and the present disclosure is not limited herein.
The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the scope of protection of the present disclosure.
Claims (19)
1. A conflict point determination method, comprising:
acquiring the current positions and the current movement directions of all objects in a target area;
taking a straight line which takes the current position of the object as a starting point and extends along the current motion direction as a predicted motion track of the corresponding object;
determining the intersection point of any two different predicted motion tracks as a potential conflict point;
and screening effective conflict points from the potential conflict points based on the time characteristics of the two objects corresponding to the potential conflict points from the current positions to the potential conflict points respectively according to the current speed.
2. The method of claim 1, wherein the obtaining the current position and the current motion direction of all objects in the target area comprises:
and acquiring the current positions and the current movement directions of all objects appearing in the target intersection by using road side equipment erected on a roadbed of the target intersection.
3. The method of claim 1, wherein the screening of the potential conflict points for valid conflict points based on time characteristics of two objects corresponding to the potential conflict points arriving at the potential conflict points at a current speed from respective current positions comprises:
determining two predicted motion trajectories which generate the potential conflict points as target predicted motion trajectories;
determining an object corresponding to the target predicted motion trajectory as a target object;
respectively calculating target time consumption of each target object reaching the potential conflict point from the current position according to the current speed, and calculating an actual time difference according to the target time consumption of each target object;
and determining the potential conflict points with the actual time difference meeting the preset time difference requirement as the effective conflict points.
4. The method of claim 3, wherein the determining a potential conflict point having an actual time difference that meets a preset time difference requirement as the valid conflict point comprises:
determining the actual conflict type according to the generation mode of the potential conflict point; wherein the conflict types include: collision conflict of opposite running and rear-end collision conflict of same-direction following running;
determining a preset target time difference requirement corresponding to the actual conflict type; wherein the time difference requirement preset for the collision conflict is greater than the time difference requirement preset for the rear-end collision conflict;
and determining the potential conflict points with the actual time difference meeting the target time difference requirement as the effective conflict points of the actual conflict type.
5. The method of claim 3, wherein the determining a potential conflict point having an actual time difference that meets a preset time difference requirement as the valid conflict point comprises:
in response to the preset time difference requirement being less than a preset time difference, determining a potential conflict point having an actual time difference less than the preset time difference as the valid conflict point.
6. The method of claim 1, further comprising:
responding to the object corresponding to the effective conflict point to have the information receiving capacity, and sending the reminding information of the effective conflict point to the object corresponding to the effective conflict point; wherein the reminding information comprises: and the position information and the prediction generation time of the effective conflict point.
7. The method of claim 6, further comprising:
acquiring the object occupation ratio with the information receiving capacity in the target area and the reduced number of conflict events after the reminding information is issued;
counting to obtain the corresponding relation between the object ratio and the number of the conflict events;
and determining a first conflict avoiding measure based on the corresponding relation.
8. The method of any of claims 1-7, further comprising:
generating a conflict point thermodynamic diagram of the target area according to the screened effective conflict points;
determining a point in the conflict point thermodynamic diagram, wherein the heat of the conflict point thermodynamic diagram exceeds a preset threshold value, as a conflict high-occurrence point;
and determining a second collision avoidance measure based on the collision high-incidence point.
9. A conflict point determination apparatus, comprising:
a position and movement direction acquisition unit configured to acquire current positions and current movement directions of all objects within a target area;
a predicted motion trajectory generation unit configured to take a straight line extending in the current motion direction with a current position of the object as a start point as a predicted motion trajectory of the corresponding object;
a potential conflict point determination unit configured to determine an intersection of any two different predicted motion trajectories as a potential conflict point;
and the effective conflict point screening unit is configured to screen effective conflict points from the potential conflict points based on the time characteristics of the two objects corresponding to the potential conflict points reaching the potential conflict points from the current positions at the current speeds respectively.
10. The apparatus of claim 9, wherein the position and motion direction acquisition unit is further configured to:
and acquiring the current positions and the current movement directions of all objects appearing in the target intersection by using road side equipment erected on a roadbed of the target intersection.
11. The apparatus of claim 9, wherein the valid conflict point filtering unit comprises:
a target motion trajectory determination subunit configured to determine two predicted motion trajectories that generate the potential conflict points as target predicted motion trajectories;
a target object determination subunit configured to determine an object corresponding to the target predicted motion trajectory as a target object;
an actual time difference calculating subunit configured to calculate a target elapsed time for each of the target objects to reach the potential conflict point from the respective current position at the current speed, and calculate an actual time difference according to the target elapsed time of each of the target objects;
a valid conflict point determination subunit configured to determine a potential conflict point having an actual time difference satisfying a preset time difference requirement as the valid conflict point.
12. The apparatus of claim 11, wherein the valid conflict point determining subunit is further configured to:
determining the actual conflict type according to the generation mode of the potential conflict point; wherein the conflict types include: collision conflict of opposite running and rear-end collision conflict of same-direction following running;
determining a preset target time difference requirement corresponding to the actual conflict type; wherein the time difference requirement preset for the collision conflict is greater than the time difference requirement preset for the rear-end collision conflict;
and determining the potential conflict points with the actual time difference meeting the target time difference requirement as the effective conflict points of the actual conflict type.
13. The apparatus of claim 11, wherein the valid conflict point determining subunit is further configured to:
in response to the preset time difference requirement being less than a preset time difference, determining a potential conflict point having an actual time difference less than the preset time difference as the valid conflict point.
14. The apparatus of claim 9, further comprising:
a reminding information issuing unit configured to issue the reminding information of the effective conflict point to the object corresponding to the effective conflict point in response to the object corresponding to the effective conflict point having information receiving capability; wherein the reminding information comprises: position information of the effective conflict point, and predicted generation time.
15. The apparatus of claim 14, further comprising:
an information acquisition unit configured to acquire an object occupation ratio with information receiving capability in the target area and a reduced number of conflict events after the reminder information is issued;
a corresponding relation counting unit configured to count a corresponding relation between the object ratio and the number of the conflict events;
a first collision avoidance measure determination unit configured to determine a first collision avoidance measure based on the correspondence relationship.
16. The apparatus of any of claims 9-15, further comprising:
a conflict point thermodynamic diagram generating unit configured to generate a conflict point thermodynamic diagram of the target area according to the screened effective conflict points;
a conflict high-occurrence-point determining unit configured to determine a point in the conflict point thermodynamic diagram, at which the heat degree exceeds a preset threshold value, as a conflict high-occurrence-point;
a second collision avoidance measure determination unit configured to determine a second collision avoidance measure based on the collision high incidence point.
17. 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 conflict point determination method of any one of claims 1-8.
18. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the conflict point determination method of any one of claims 1-8.
19. A computer program product comprising a computer program which, when executed by a processor, carries out the steps of the conflict point determination method according to any of claims 1-8.
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