CN115593307A - Prompting method, device and equipment for automatic driving and storage medium - Google Patents

Prompting method, device and equipment for automatic driving and storage medium Download PDF

Info

Publication number
CN115593307A
CN115593307A CN202211349719.7A CN202211349719A CN115593307A CN 115593307 A CN115593307 A CN 115593307A CN 202211349719 A CN202211349719 A CN 202211349719A CN 115593307 A CN115593307 A CN 115593307A
Authority
CN
China
Prior art keywords
road user
light
environment
luminous
vehicle body
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202211349719.7A
Other languages
Chinese (zh)
Inventor
陈东东
徐立人
韩旭
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Guangzhou Weride Technology Co Ltd
Original Assignee
Guangzhou Weride Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Guangzhou Weride Technology Co Ltd filed Critical Guangzhou Weride Technology Co Ltd
Priority to CN202211349719.7A priority Critical patent/CN115593307A/en
Priority to PCT/CN2022/132175 priority patent/WO2024092883A1/en
Publication of CN115593307A publication Critical patent/CN115593307A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)
  • Lighting Device Outwards From Vehicle And Optical Signal (AREA)

Abstract

The invention relates to the technical field of automatic driving, and discloses a prompting method, a prompting device, prompting equipment and a storage medium for automatic driving, which are used for improving the passing efficiency and safety of automatic driving mixed traffic. The prompting method of automatic driving is applied to an automatic driving vehicle, a plurality of luminous sources are arranged on the body of the automatic driving vehicle in an encircling manner, and the prompting method comprises the following steps: in the automatic driving process, acquiring an environment detection result in real time, and determining whether at least one road user exists in the environment according to the environment detection result; if at least one road user exists in the environment, the luminous prompt is carried out through the luminous source in each relative direction according to the relative direction of each road user and the vehicle body.

Description

Prompting method, device and equipment for automatic driving and storage medium
Technical Field
The present invention relates to the field of automatic driving technologies, and in particular, to a method, an apparatus, a device, and a storage medium for prompting automatic driving.
Background
With the development of the automatic driving technology, automatic driving cars or other automatic driving devices are beginning to appear on roads and use the roads in a mixed manner with other road users.
For safety of hybrid use roads, autonomous vehicles or devices are often equipped with autonomous status lights to indicate to other road users the current status of the autonomous vehicle or device, such as whether it is autonomous, whether it will accelerate, whether it will turn, etc. However, the existing prompting methods cannot intuitively prompt other road users whether the current vehicle detects the other side or whether the current vehicle recognizes an obstacle in a certain direction, and the road users worry that the automatic driving vehicle or the device does not detect the current vehicle, so that the passing speed is often reduced or even the passing is suspended, and the passing efficiency and the safety are reduced.
Disclosure of Invention
The invention provides a prompting method, a prompting device, prompting equipment and a storage medium for automatic driving, which are used for improving the passing efficiency and safety of automatic driving mixed traffic.
The invention provides a prompting method of automatic driving, which is applied to an automatic driving vehicle, wherein a plurality of luminous sources are arranged on a vehicle body of the automatic driving vehicle in a surrounding way, and the method comprises the following steps: in the automatic driving process, acquiring an environment detection result in real time, and determining whether at least one road user exists in the environment according to the environment detection result; and if at least one road user exists in the environment, carrying out luminous prompt through the luminous source in each relative direction according to the relative direction of each road user and the vehicle body.
Optionally, in a first implementation manner of the first aspect of the present invention, after the light emitting indication is performed by the light emitting source in each of the relative directions according to the relative direction between each road user and the vehicle body if at least one road user exists in the environment, the method further includes: and tracking each road user, and changing a light-emitting source for light-emitting prompt according to the change of the relative direction of any road user and the vehicle body in the tracking process, so that the light-emitting source changes along with the relative direction of the road user and the vehicle body.
Optionally, in a second implementation manner of the first aspect of the present invention, if there is at least one road user in the environment, the prompting device for lighting by a lighting source in each of the relative directions according to the relative direction between each road user and the vehicle body includes: if at least one road user exists in the environment, determining a target luminous source corresponding to each first relative direction according to the first relative direction of each road user and the vehicle body, and giving a luminous prompt through all the target luminous sources, wherein the first relative direction belongs to the luminous range of the corresponding target luminous source.
Optionally, in a third implementation manner of the first aspect of the present invention, if there is at least one road user in the environment, the prompting device for emitting light by a light emitting source in each of the relative directions according to the relative direction between each road user and the vehicle body includes: if at least one road user exists in the environment, determining a prompt receiving position of each road user; determining a first relative direction of each road user and the vehicle body according to a connecting line of a prompt receiving position of each road user and an origin of a preset vehicle coordinate system; and determining the target luminous source corresponding to each first relative direction according to the luminous ranges respectively corresponding to all the luminous sources, and performing luminous prompt through all the target luminous sources.
Optionally, in a fourth implementation manner of the first aspect of the present invention, if there is at least one road user in the environment, the prompting device for emitting light by a light emitting source in each of the relative directions according to the relative direction between each road user and the vehicle body includes: if the environment has only one road user, determining a target luminous source for carrying out luminous prompt in all the luminous sources according to the relative direction of the road user and the vehicle body, and carrying out luminous prompt by the target luminous source; if the road users with the number less than the preset number exist in the environment, determining at least one target luminous source for luminous prompt in all the luminous sources according to the relative direction of each road user and the vehicle body, and performing luminous prompt through the at least one target luminous source; and if the road users with the number larger than or equal to the preset number exist in the environment, performing interval light-emitting prompt through all the light-emitting sources.
Optionally, in a fifth implementation manner of the first aspect of the present invention, all the light-emitting sources are disposed on at least one light-emitting band, all the light-emitting bands are wrapped around the vehicle body, all the light-emitting bands wrapped around the vehicle body form at least one or at least one group of light-emitting sources corresponding to the vehicle body and the road user in any opposite direction, and if at least one road user exists in the environment, the light-emitting indication is performed through the light-emitting source in each opposite direction according to the opposite direction of each road user and the vehicle body, including: if at least one road user exists in the environment, at least one or at least one group of luminous sources of the luminous bands in the opposite direction of each road user and the vehicle body are lightened, and at least one or at least one group of luminous sources of the road user does not exist in the opposite direction of the luminous bands are turned off.
Optionally, in a sixth implementation manner of the first aspect of the present invention, the light-emitting source is a narrow-viewing-angle light-emitting source, and a visual viewing angle of the narrow-viewing-angle light-emitting source is [4 °,10 ° ].
Optionally, in a seventh implementation manner of the first aspect of the present invention, the obtaining an environment detection result in real time during the automatic driving process, and determining whether at least one road user exists in the environment according to the environment detection result includes: in the automatic driving process, acquiring an environment detection result in real time, wherein the environment detection result is used for indicating whether at least one obstacle exists in the environment; if at least one obstacle exists in the environment, determining whether the obstacle of at least one road user type exists in the environment according to the type of each obstacle so as to determine whether at least one road user exists in the environment.
Optionally, in a seventh implementation manner of the first aspect of the present invention, the road user includes: pedestrians, non-motor vehicles, and motor vehicles not in an autonomous state, wherein the autonomous state light is used to indicate whether the motor vehicle is in the autonomous state.
The present invention in its second aspect provides an automatic driving prompting device for an automatic driving vehicle, the automatic driving vehicle having a plurality of light emitting sources arranged around a vehicle body, the device comprising: the system comprises an acquisition module, a judgment module and a control module, wherein the acquisition module is used for acquiring an environment detection result in real time in the automatic driving process and determining whether at least one road user exists in the environment according to the environment detection result; and the light emitting module is used for giving out light prompt through the light emitting sources in the relative directions according to the relative directions of each road user and the vehicle body if at least one road user exists in the environment.
Optionally, in a first implementation manner of the second aspect of the present invention, the apparatus further includes:
the tracking module is used for tracking each road user and changing a luminous source for luminous prompt according to the change of the relative direction of any road user and the vehicle body in the tracking process, so that the luminous source changes along with the relative direction of the road user and the vehicle body.
Optionally, in a second implementation manner of the second aspect of the present invention, the light emitting module is further configured to:
if at least one road user exists in the environment, determining a target luminous source corresponding to each first relative direction according to the first relative direction of each road user and the vehicle body, and giving a luminous prompt through all the target luminous sources, wherein the first relative direction belongs to the luminous range of the corresponding target luminous source.
Optionally, in a third implementation manner of the second aspect of the present invention, the light emitting module is further configured to:
if at least one road user exists in the environment, determining a prompt receiving position of each road user;
determining a first relative direction of each road user and the vehicle body according to a connecting line of a prompt receiving position of each road user and an origin of a preset vehicle coordinate system;
and determining the target luminous source corresponding to each first relative direction according to the luminous range corresponding to all the luminous sources respectively, and carrying out luminous prompt through all the target luminous sources.
Optionally, in a fourth implementation manner of the second aspect of the present invention, the light emitting module is further configured to:
if the environment has only one road user, determining a target luminous source for luminous prompt in all the luminous sources according to the relative direction of the road user and the vehicle body, and performing luminous prompt through the target luminous source;
if the road users with the number less than the preset number exist in the environment, determining at least one target light-emitting source for light-emitting prompt in all the light-emitting sources according to the relative direction of each road user and the vehicle body, and performing light-emitting prompt through the at least one target light-emitting source;
and if the road users with the number larger than or equal to the preset number exist in the environment, performing interval light-emitting prompt through all the light-emitting sources.
Optionally, in a fifth implementation manner of the second aspect of the present invention, all the light-emitting sources are disposed on at least one light-emitting strip, all the light-emitting strips are wound on the vehicle body, all the light-emitting strips wound on the vehicle body form at least one or at least one group of light-emitting sources corresponding to the vehicle body and the road user in any opposite direction, and the light-emitting module is further configured to:
if at least one road user exists in the environment, at least one or at least one group of luminous sources of the luminous bands in the opposite direction of each road user and the vehicle body are lightened, and at least one or at least one group of luminous sources of the road user does not exist in the opposite direction of the luminous bands are turned off.
Optionally, in a sixth implementation manner of the second aspect of the present invention, the light-emitting source is a narrow-viewing-angle light-emitting source, and a visual viewing angle of the narrow-viewing-angle light-emitting source is [4 °,10 ° ].
Optionally, in a seventh implementation manner of the second aspect of the present invention, the obtaining module is further configured to:
in the automatic driving process, acquiring an environment detection result in real time, wherein the environment detection result is used for indicating whether at least one obstacle exists in the environment;
if at least one obstacle exists in the environment, determining whether the obstacle of at least one road user type exists in the environment according to the type of each obstacle so as to determine whether at least one road user exists in the environment.
Optionally, in a seventh implementation manner of the second aspect of the invention, the road user includes: pedestrians, non-motor vehicles, and motor vehicles not in an autonomous state, wherein the autonomous state light is used to indicate whether the motor vehicle is in the autonomous state.
A third aspect of the present invention provides an automatic driving guidance apparatus, including: a memory and at least one processor, the memory having stored therein a computer program; the at least one processor invokes the computer program in the memory to cause the autonomous driving prompting apparatus to execute the above-described autonomous driving prompting method.
A fourth aspect of the present invention provides a computer-readable storage medium having stored therein a computer program which, when run on a computer, causes the computer to execute the above-described prompting method for automatic driving.
The technical scheme provided by the invention is applied to an automatic driving vehicle, a plurality of luminous sources are arranged on the body of the automatic driving vehicle in an encircling manner, and the automatic driving vehicle comprises: in the automatic driving process, acquiring an environment detection result in real time, and determining whether at least one road user exists in the environment according to the environment detection result; and if at least one road user exists in the environment, carrying out luminous prompt through the luminous source in each relative direction according to the relative direction of each road user and the vehicle body. In the automatic driving process, when at least one road user is detected in the environment, the light-emitting sources surrounding the vehicle body are subjected to light-emitting prompt according to the relative direction of each road user and the vehicle body, and the light-emitting sources in the corresponding relative direction can be subjected to light-emitting prompt, so that each road user can see the light-emitting sources subjected to the light-emitting prompt, and the passing efficiency and the safety of the automatic driving mixed traffic are improved.
Drawings
FIG. 1 is a schematic diagram of an embodiment of a prompting method for automatic driving according to an embodiment of the present invention;
FIG. 2 is a first schematic diagram of a prompting method for automatic driving according to an embodiment of the present invention;
fig. 3 is a schematic diagram of another embodiment of the prompting method for automatic driving according to the embodiment of the invention;
FIG. 4 is a second schematic diagram of a prompting method for automatic driving according to an embodiment of the present invention;
FIG. 5 is a third schematic diagram of a prompting method for automatic driving according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of an embodiment of an automatic driving prompt device according to an embodiment of the present invention;
fig. 7 is a schematic diagram of another embodiment of the prompting device for automatic driving in the embodiment of the invention;
fig. 8 is a schematic diagram of an embodiment of an automatic driving prompt device in an embodiment of the present invention.
Detailed Description
The embodiment of the invention provides a prompting method, a prompting device, prompting equipment and a prompting storage medium for automatic driving, which are used for improving the passing efficiency and safety of automatic driving mixed traffic.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Moreover, the terms "comprises," "comprising," or "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It is understood that the execution subject of the present invention may be a prompting device for automatic driving, and may also be a terminal or a server, which is not limited herein. The embodiment of the present invention is described by taking a server as an execution subject.
For ease of understanding, a specific flow of an embodiment of the present invention will be described below, and the embodiment of the present invention is applied to an autonomous vehicle in which a plurality of light sources are disposed around a vehicle body. An autonomous vehicle is also called an unmanned vehicle, an intelligent driving vehicle or an autonomous mobile robot, and is commonly applied to the fields of manned transportation, cargo transportation and the like. It can be understood that the classification system of automatic driving divides automatic driving into 6 levels, L0-L5 respectively, and L1-L5 all contain automatic driving control programs with different intelligent degrees except that L0 is a level of completely non-automatic human autonomous control, and automatic driving vehicles belonging to the 5 levels can be considered to be in the automatic driving process when in the automatic driving state.
The light source is a light emitting device, the light emitting device on the autonomous vehicle is in communication connection with the autonomous vehicle, and the autonomous control system can send a control signal to all the light emitting devices so that the light emitting devices give a light emitting prompt. In an embodiment, the distances between the light emitting sources arranged around the vehicle body may be the same or different, and the distance may be 0 or a preset distance value, which is not limited herein.
Referring to fig. 1, an embodiment of the prompting method for automatic driving in the embodiment of the present invention includes:
101. in the automatic driving process, acquiring an environment detection result in real time, and determining whether at least one road user exists in the environment according to the environment detection result;
it is understood that when the autonomous vehicle or apparatus is in the autonomous state, it is determined that the autonomous vehicle or apparatus is in the autonomous process. In an embodiment, when the autonomous vehicle or the autonomous device is in the autonomous driving state, the environmental detection result is obtained by detecting environmental data collected in real time, where the environmental detection result may be data used to indicate whether at least one road user exists in the environment, may also be data used to indicate whether an obstacle exists in the environment, and may also be any other data capable of indicating whether at least one road user exists in the environment, which is not limited herein. In one embodiment, the environment detection result may be data required by the autopilot control itself, and is calculated by the autopilot control algorithm, and in the autopilot process, the environment detection result calculated by the autopilot control algorithm is directly obtained, so that whether at least one road user exists in the environment can be quickly determined without performing other operations, and thus the real-time performance and efficiency of the autopilot prompt are improved.
In an embodiment, an environment detection result may be obtained in real time by performing obstacle detection on data acquired by a sensor of an autonomous vehicle in real time, where the sensor of the autonomous vehicle may be an environment detection sensor such as a camera, a radar (e.g., a laser radar, a millimeter wave radar, an ultrasonic radar, etc.), an Inertial Measurement Unit (IMU), and the like, which is not limited herein.
It is understood that the road user refers to a human being on the road, a human being attached with an object subject to human will control, or an object being subject to human will control, for example, a pedestrian walking on the road, a person riding/pushing a bicycle belonging to an appendage attached to the face, a non-autonomous driving car being on the driving seat of a non-autonomous driving car belonging to an appendage attached to the face, a pet being pulled by a human belonging to an appendage attached to the human being, and the like, and the appendages are not limited herein. It will be appreciated that if an object under human mental control is detected that is not in an "on-going" human mental control state, the object does not belong to the road user. For example, the presence of a car in the environment is detected, the car may belong to an object subject to human willingness, and if the car is detected to be in an autonomous driving state, the car does not belong to the road user.
102. If at least one road user exists in the environment, the luminous prompt is carried out through the luminous source in each relative direction according to the relative direction of each road user and the vehicle body.
It is understood that if the environment detection result indicates that at least one road user exists in the environment, the light-emitting source in each relative direction is determined according to the relative direction of each road user to the vehicle body, and the light-emitting indication is performed through the light-emitting source in each relative direction. As shown in fig. 2, the autonomous vehicle and the pedestrian and other vehicles respectively correspond to a relative direction (relative direction 1 and relative direction 2), and then the light-emitting sources in the two relative directions both give out light through the light-emitting sources surrounding the autonomous vehicle, so that the pedestrian and other vehicles know that the autonomous vehicle detects the self-vehicle, and can safely pass through the autonomous vehicle.
In one embodiment, the relative direction between each road user and the vehicle body refers to a connection line between each road user and a preset vehicle body coordinate system origin, where the preset vehicle body coordinate system may be a coordinate system with a rear axle middle point of the vehicle as an origin, a coordinate system with a center point of the vehicle as an origin, or another coordinate system with any position of the vehicle as an origin, and is not limited herein. Further, since the road users have a certain volume or area, the relative direction between each road user and the vehicle body refers to a connection line between the center point of each road user and the origin of the preset vehicle body coordinate system. In one embodiment, the center point of the road user may be determined according to a minimum bounding rectangle of the road user, where the minimum bounding rectangle is used to indicate a boundary minimum rectangle of the road user, and the center point of the road user may be obtained by calculating the center point of the minimum bounding rectangle.
In one embodiment, in order to make the road user more intuitively see the light-emitting prompt of the light-emitting source, if the detected road user is an object under human intention control, then to ensure that the human actually intending to control the object is receiving the light-emitting prompt instead of the object, the relative direction of each road user to the vehicle body is the relative direction of the actual control subject of each road user to the vehicle body, wherein the actual control subject refers to the subject actually controlling the movement of the road user, for example, assuming that the detected road user is a bicycle riding on the road, then the actual control subject of the road user is a person riding the bicycle, and likewise, if the detected road user is a non-automatically driven vehicle, then the actual control subject of the road user is a person driving the non-automatically driven vehicle, which is not limited herein.
In one embodiment, there are some cases where the actual control subject of the road user cannot be detected, and in this case, the normal position of the actual control subject, which refers to the normal position of the actual control subject, may be predicted and determined as the position of the actual control subject such that the relative direction of each road user to the vehicle body refers to the relative direction of the predicted control subject position of each road user to the vehicle body. For example, if there is a non-autonomous vehicle in the environment and the actual control subject of the non-autonomous vehicle cannot be detected due to a peep-proof film attached to the driving seat of the non-autonomous vehicle, the driving seat of the non-autonomous vehicle may be determined as the actual control subject of the non-autonomous vehicle, the position of the driving seat is the predicted control subject position of the non-autonomous vehicle, and the relative direction between the non-autonomous vehicle and the vehicle body is the relative direction between the position of the driving seat and the vehicle body, which is not limited herein.
In an embodiment, when the light-emitting source in each relative direction performs the light-emitting prompt, the light-emitting source may be a dynamic light-emitting prompt, or may be a static light-emitting prompt, for example, the light-emitting source in each relative direction performs a blinking light-emitting prompt, or the light-emitting source in each relative direction performs a gradual light-emitting prompt, and the like, which is not limited herein.
In one embodiment, for some road users with a faster speed, the light-emitting prompt may not be provided, and specifically, step 102 includes: if at least one road user exists in the environment, determining the road user for carrying out luminous prompt according to the speed information of each road user, and carrying out luminous prompt through the luminous source in each relative direction according to the relative direction between the road user for carrying out luminous prompt and the vehicle body. The speed information may be a parameter used for indicating the speed of the object, such as speed, acceleration, instantaneous speed, or velocity, and is not limited herein. Further, when determining the road users performing the light-emitting prompt, the speed information of each road user may be compared with a preset speed threshold or speed range, so as to determine the road users performing the light-emitting prompt.
In the automatic driving process, when at least one road user is detected to exist in the environment, the light emitting sources surrounding the vehicle body are subjected to light emitting prompt in the corresponding opposite direction according to the opposite direction of each road user and the vehicle body, so that each road user can see the light emitting sources for performing the light emitting prompt, and the passing efficiency and the safety of the automatic driving mixed traffic are improved.
Referring to fig. 3, another embodiment of the prompting method for automatic driving according to the embodiment of the present invention includes:
301. in the automatic driving process, acquiring an environment detection result in real time, and determining whether at least one road user exists in the environment according to the environment detection result;
in one embodiment, a road user comprises: pedestrians, non-motor vehicles, and motor vehicles not in an autonomous state, wherein the autonomous state light is used to indicate whether the motor vehicle is in the autonomous state. In one embodiment, if the detected vehicle does not include an automatic driving status light or the automatic driving status light is not on, it is determined that the vehicle is not in the automatic driving status. In the present embodiment, the non-motor vehicle refers to an appendage of a human being, and has an affiliation with at least one human being. For example, a bicycle that a human being is riding, a pet that a human being is pulling, etc., and the details are not limited herein.
In one embodiment, step 301 comprises: in the automatic driving process, acquiring an environment detection result in real time, wherein the environment detection result is used for indicating whether at least one obstacle exists in the environment; if at least one obstacle exists in the environment, determining whether the obstacle of at least one road user type exists in the environment according to the type of each obstacle so as to determine whether at least one road user exists in the environment; in this embodiment, if the environment detection result indicates that at least one obstacle exists in the environment, the environment detection result further includes a type of each obstacle, for example, a certain obstacle is a road user type, a certain obstacle is a fixed object type, a certain obstacle is an overrideable type, and the like, which is not limited herein. Determining that at least one road user is present in the environment if at least one obstacle of the road user type is present in the environment.
302. If at least one road user exists in the environment, carrying out light-emitting prompt through the light-emitting source in each relative direction according to the relative direction of each road user and the vehicle body;
in one embodiment, step 302 includes: if at least one road user exists in the environment, determining a target luminous source corresponding to each first relative direction according to the first relative direction of each road user and the vehicle body, and giving out a luminous prompt through all the target luminous sources, wherein the first relative direction belongs to the luminous range of the corresponding target luminous source.
In this embodiment, the target light-emitting source corresponding to each road user is determined according to a first relative direction of each road user and the vehicle body, that is, the target light-emitting source corresponding to each first relative direction is determined, where the first relative direction belongs to the light-emitting range of the corresponding target light-emitting source. For example, if the relative direction of a road user to the vehicle body is 45 °, the light emitting range of the target light emitting source for light indication may be [40 ° or 48 ° ], and the present invention is not limited thereto.
In one embodiment, step 302 includes: if at least one road user exists in the environment, determining a prompt receiving position of each road user; determining a first relative direction of each road user and the vehicle body according to a connecting line of the prompt receiving position of each road user and the origin of a preset vehicle coordinate system; and determining the target luminous source corresponding to each first relative direction according to the luminous range corresponding to all the luminous sources respectively, and carrying out luminous prompt through all the target luminous sources.
In this embodiment, the prompt receiving position refers to a position where a road user receives a light-emitting prompt, the prompt receiving position may be a visual perception position of the road user, such as a head, eyes, and a face of a human being, the prompt receiving position may also be an actual control subject position of the road user, such as a position of a person on a bicycle, a position of a driver on the bicycle, and a position of a person holding a pet, and the prompt receiving position may also be a preset reference position of the road user, such as a center point of a person, a center point of a non-automatically driven vehicle, a center point of a person on a bicycle, a peak of a person, and a center point of a person on a bicycle, which is not limited herein. It should be noted that the prompt receiving position may be a coordinate point in a three-dimensional space, or may be an area in the three-dimensional space, and if the prompt receiving position is an area in the three-dimensional space, when the prompt receiving position of each road user is connected to the preset origin of the vehicle body coordinate system, the first relative direction between each road user and the vehicle body may be determined according to the connection line between the center point of the prompt receiving position of each road user and the preset origin of the vehicle body coordinate system, which is not limited herein.
In one embodiment, the light emitting range corresponding to the light emitting source is determined according to a relative direction between the vehicle body and a visible angle of the light emitting source, and specifically, the light emitting range corresponding to the light emitting source is determined according to a relative direction between an origin of a preset vehicle body coordinate system and the visible angle of the light emitting source. As shown in fig. 4, a vehicle body coordinate system origin O and a light emitting source L are preset, and if a visible angle of the light emitting source L is ≦ ALB, a light emitting range of the light emitting source L is ≦ AOB, an angle of a connecting line of AO in the preset vehicle body coordinate system is 15 °, an angle of a connecting line of BO in the preset vehicle body coordinate system is-15 °, a relative direction between the visible angle of the light emitting source and the vehicle body is (-15 °,15 °), and if the first relative direction belongs to (-15 °,15 °), for example, an angle of a connecting line between a prompt receiving position of a road user and the preset coordinate system origin O in the preset vehicle body coordinate system is 10 °, the light emitting source L is a target light emitting source corresponding to the first relative direction, and the light emitting source L performs light emitting prompt, which is not limited herein.
In one embodiment, step 302 includes: if the environment has only one road user, determining a target luminous source for luminous prompt in all the luminous sources according to the relative direction of the road user and the vehicle body, and performing luminous prompt through the target luminous source; if the road users with the number less than the preset number exist in the environment, determining at least one target light-emitting source for light-emitting prompt in all the light-emitting sources according to the relative direction of each road user and the vehicle body, and performing light-emitting prompt through the at least one target light-emitting source; if the road users with the number larger than or equal to the preset number exist in the environment, the interval light-emitting prompt is carried out through all the light-emitting sources.
In this embodiment, when there is only one road user in the environment, the target light-emitting source corresponding to the relative direction may be determined directly according to the relative direction between the road user and the vehicle body, where the relative direction belongs to the light-emitting range of the target light-emitting source. When there are less than the preset number of road users in the environment, the target light emitting source corresponding to each road user is determined to obtain at least two target light emitting sources, for example, if there are 3 road users in the environment, the target light emitting sources corresponding to the 3 road users are respectively lit, and the specific details are not limited herein. It should be noted that, if there are more than or equal to two road users in the environment and less than the preset number of road users, and there are at least two road users in the same relative direction with the vehicle body, at least two target light sources for light indication in all the light sources are still determined according to the relative direction of each road user with the vehicle body, and light indication is performed by the at least two target light sources. For example, there are 2 road users in the environment, and the relative directions of the 2 road users and the vehicle body are both 15 °, then the target luminous source corresponding to 15 ° is lighted for luminous indication. In this embodiment, if there are more than or equal to the predetermined number of road users in the environment and the relative direction of each road user to the vehicle body is different, the indication of interval light emission is performed by all the light-emitting sources. For example, if the preset number is 100, then when there are more than or equal to 100 road users in the environment and the relative direction between each road user and the vehicle body is different, all the light sources are turned on at intervals, for example, if the serial numbers of the light sources are numbered in sequence, the light sources with the singular serial number may be turned on, or the light sources with the even serial number may be turned on, which is not limited herein. In one embodiment, the preset number may be set to be the total number of the light emitting sources, for example, 100 light emitting sources are provided on the vehicle body, and then the preset number =100, which is not limited herein.
In one embodiment, all of the light-emitting sources are disposed on at least one light-emitting strip, all of the light-emitting strips are disposed around the vehicle body, and all of the light-emitting strips disposed around the vehicle body form at least one light-emitting source or at least one group of light-emitting sources corresponding to the vehicle body and the road user in any opposite directions, step 302 includes: if at least one road user exists in the environment, at least one or at least one group of luminous sources of the luminous belt in the opposite direction of each road user and the vehicle body are lightened, and at least one or at least one group of luminous sources of the luminous belt in the opposite direction without the road user exist are turned off.
In this embodiment, the light-emitting source is disposed on the light-emitting strip, the light-emitting strip surrounds the vehicle body, the number of the light-emitting strips surrounding the vehicle body may be one or multiple, the light-emitting strip may surround the vehicle roof, may surround the edge of any cross section of the vehicle parallel to the ground, and may surround other positions where the light-emitting prompt can be performed on road users in any relative direction. It is understood that all the light-emitting strips surrounding the vehicle body form at least one or a group of light-emitting sources corresponding to each other in any relative direction, wherein a group of light-emitting sources is composed of a plurality of light-emitting sources, for example, a group of light-emitting sources can exhibit color light-emitting, gradient light-emitting, and other light-emitting effects, and is not limited herein.
Further, in one embodiment, the light-emitting source is a narrow viewing angle light-emitting source having a viewing angle of [4 °,10 ° ]. In this embodiment, in order to avoid that the road users in the opposite direction also receive the light-emitting prompt and cause prompt confusion, the road users in the opposite direction can see the light-emitting prompt of the light-emitting source, and at the same time, the light-emitting source is set to be the light-emitting source with the narrow viewing angle, wherein the viewing angle of the light-emitting source with the narrow viewing angle is [4 °,10 ° ], thereby achieving the above-mentioned effects.
303. Tracking each road user, and changing a luminous source for luminous prompt according to the change of the relative direction of any road user and the vehicle body in the tracking process so that the luminous source changes along with the relative direction of the road user and the vehicle body.
In the embodiment, in order to enable a road user to feel that the automatic driving vehicle detects the automatic driving vehicle more intuitively, the automatic driving vehicle can safely pass through, the road user is subjected to motion tracking, and a target light emitting source for light emitting prompt is always in the relative direction of the road user and the vehicle body. As shown in fig. 5, in the process of moving the autonomous vehicle from position a to position B, if the pedestrian does not move, the target light-emitting source for light-emitting indication moves from light-emitting source 1 to light-emitting source 2, the relative direction of the pedestrian and the vehicle body and the relative direction of the target light-emitting source and the vehicle body are always consistent, so that the light-emitting indication effect is better.
In the automatic driving process, when at least one road user exists in the environment, the light sources in the corresponding relative directions in the plurality of light sources surrounding the vehicle body are subjected to light emitting prompt according to the relative direction between each road user and the vehicle body and are changed along with the change of the relative direction between the road user and the vehicle body, so that each road user can dynamically perceive the light sources subjected to the light emitting prompt, and the traffic efficiency and the safety of the automatic driving mixed traffic are improved.
In the above description of the prompting method for automatic driving in the embodiment of the present invention, referring to fig. 6, the prompting device for automatic driving in the embodiment of the present invention is described below, and an embodiment of the prompting device for automatic driving in the embodiment of the present invention includes: be applied to the autopilot vehicle, be provided with a plurality of light emitting sources around on the automobile body of autopilot vehicle, the device includes:
the acquisition module 601 is used for acquiring an environment detection result in real time in an automatic driving process and determining whether at least one road user exists in the environment according to the environment detection result;
the light emitting module 602 is configured to, if at least one road user exists in the environment, perform light emitting prompting through the light emitting source in each relative direction according to the relative direction between each road user and the vehicle body.
In the automatic driving process, when at least one road user is detected in the environment, the light-emitting sources surrounding the vehicle body are subjected to light-emitting prompt according to the relative direction of each road user and the vehicle body, and the light-emitting sources in the corresponding relative direction can be subjected to light-emitting prompt, so that each road user can see the light-emitting sources subjected to the light-emitting prompt, and the passing efficiency and the safety of the automatic driving mixed traffic are improved.
Referring to fig. 7, another embodiment of the prompting device for automatic driving according to the embodiment of the present invention includes: be applied to the autopilot vehicle, be provided with a plurality of light emitting sources around on the automobile body of autopilot vehicle, the device includes:
the acquisition module 601 is used for acquiring an environment detection result in real time in an automatic driving process and determining whether at least one road user exists in the environment according to the environment detection result;
the light emitting module 602 is configured to, if at least one road user exists in the environment, perform light emitting prompting through the light emitting source in each relative direction according to the relative direction between each road user and the vehicle body.
Optionally, the apparatus further comprises:
the tracking module 603 is configured to track each road user, and in the tracking process, change a light emitting source for light emitting prompt according to a change in a relative direction between any road user and the vehicle body, so that the light emitting source changes along with the relative direction between the road user and the vehicle body.
Optionally, the light emitting module 602 is further configured to:
if at least one road user exists in the environment, determining a target luminous source corresponding to each first relative direction according to the first relative direction of each road user and the vehicle body, and giving a luminous prompt through all the target luminous sources, wherein the first relative direction belongs to the luminous range of the corresponding target luminous source.
Optionally, the light emitting module 602 is further configured to:
if at least one road user exists in the environment, determining a prompt receiving position of each road user;
determining a first relative direction of each road user and the vehicle body according to a connecting line of a prompt receiving position of each road user and an origin of a preset vehicle coordinate system;
and determining the target luminous source corresponding to each first relative direction according to the luminous range corresponding to all the luminous sources respectively, and carrying out luminous prompt through all the target luminous sources.
Optionally, the light emitting module 602 is further configured to:
if the environment has only one road user, determining a target luminous source for luminous prompt in all the luminous sources according to the relative direction of the road user and the vehicle body, and performing luminous prompt through the target luminous source;
if the road users with the number less than the preset number exist in the environment, determining at least one target luminous source for luminous prompt in all the luminous sources according to the relative direction of each road user and the vehicle body, and performing luminous prompt through the at least one target luminous source;
and if the road users with the number larger than or equal to the preset number exist in the environment, performing interval light-emitting prompt through all the light-emitting sources.
Optionally, all the light-emitting sources are disposed on at least one light-emitting strip, all the light-emitting strips are wound on the vehicle body, all the light-emitting strips wound on the vehicle body form at least one or at least one group of light-emitting sources corresponding to the vehicle body and the road user in any opposite direction, and the light-emitting module 602 is further configured to:
if at least one road user exists in the environment, at least one or at least one group of luminous sources of the luminous bands in the opposite direction of each road user and the vehicle body are lightened, and at least one or at least one group of luminous sources of the luminous bands without the road user in the opposite direction are turned off.
Optionally, the light-emitting source is a narrow-viewing-angle light-emitting source, and the visual viewing angle of the narrow-viewing-angle light-emitting source is [4 °,10 ° ].
Optionally, the obtaining module 601 is further configured to:
in the automatic driving process, acquiring an environment detection result in real time, wherein the environment detection result is used for indicating whether at least one obstacle exists in the environment;
if at least one obstacle exists in the environment, determining whether the obstacle of at least one road user type exists in the environment according to the type of each obstacle so as to determine whether at least one road user exists in the environment.
Optionally, the road user comprises: pedestrians, non-motor vehicles, and motor vehicles not in an autopilot state, wherein the autopilot state light is used to indicate whether the motor vehicle is in an autopilot state.
In the embodiment of the invention, when at least one road user exists in the environment is detected in the automatic driving process, the light-emitting sources in the corresponding relative directions in the plurality of light-emitting sources surrounding the vehicle body are subjected to light-emitting prompt according to the relative direction of each road user and the vehicle body and are changed along with the change of the relative direction of the road user and the vehicle body, so that each road user can dynamically perceive the light-emitting sources for performing the light-emitting prompt, and the traffic efficiency and the safety of the automatic driving mixed traffic are improved.
Fig. 6 and fig. 7 describe the prompting device for automatic driving in the embodiment of the present invention in detail from the perspective of the modular functional entity, and the prompting device for automatic driving in the embodiment of the present invention is described in detail from the perspective of hardware processing.
Fig. 8 is a schematic structural diagram of an automatic driving prompt device 800 according to an embodiment of the present invention, where the automatic driving prompt device 800 may have a relatively large difference due to different configurations or performances, and may include one or more processors (CPUs) 810 (e.g., one or more processors) and a memory 820, and one or more storage media 830 (e.g., one or more mass storage devices) storing an application 833 or data 832. Memory 820 and storage medium 830 may be, among other things, transient or persistent storage. The program stored on the storage medium 830 may include one or more modules (not shown), each of which may include a series of computer program operations in the prompting device 800 for autopilot. Still further, processor 810 may be configured to communicate with storage medium 830 to execute a series of computer program operations in storage medium 730 on autonomous driving advisory facility 800.
The autopilot prompting device 800 may also include one or more power supplies 840, one or more wired or wireless network interfaces 850, one or more input-output interfaces 860, and/or one or more operating systems 831, such as Windows Server, mac OS X, unix, linux, freeBSD, etc. Those skilled in the art will appreciate that the configuration of the prompting device for automatic driving shown in fig. 8 does not constitute a limitation of the prompting device for automatic driving, and may include more or fewer components than shown, or some components may be combined, or a different arrangement of components.
The present invention also provides a computer device, which includes a memory and a processor, wherein the memory stores a computer-readable computer program, and when the computer-readable computer program is executed by the processor, the processor executes the steps of the automatic driving prompting method in the above embodiments.
The present invention also provides a computer-readable storage medium, which may be a non-volatile computer-readable storage medium, or a volatile computer-readable storage medium, having stored thereon a computer program, which, when run on a computer, causes the computer to execute the steps of the method for prompting automatic driving.
It can be clearly understood by those skilled in the art that, for convenience and simplicity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may substantially or partially contribute to the prior art, or all or part of the technical solution may be embodied in the form of a software product, which is stored in a storage medium and includes several computer programs to enable a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a portable hard disk, a read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk, an optical disk, or other various media capable of storing program codes.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (12)

1. An automatic driving prompting method is applied to an automatic driving vehicle, a plurality of luminous sources are arranged on a vehicle body of the automatic driving vehicle in a surrounding mode, and the method comprises the following steps:
in the automatic driving process, acquiring an environment detection result in real time, and determining whether at least one road user exists in the environment according to the environment detection result;
and if at least one road user exists in the environment, carrying out luminous prompt through the luminous source in each relative direction according to the relative direction of each road user and the vehicle body.
2. The method of claim 1, wherein if there is at least one road user in the environment, after the indication of the relative direction between each road user and the vehicle body by the light emitting source in each relative direction, further comprises:
and tracking each road user, and changing a light-emitting source for light-emitting prompt according to the change of the relative direction of any road user and the vehicle body in the tracking process, so that the light-emitting source changes along with the relative direction of the road user and the vehicle body.
3. The method of claim 1, wherein if there is at least one road user in the environment, the indication of the relative direction between each road user and the vehicle body by the light emitting source in each relative direction comprises:
if at least one road user exists in the environment, determining a target luminous source corresponding to each first relative direction according to the first relative direction of each road user and the vehicle body, and giving a luminous prompt through all the target luminous sources, wherein the first relative direction belongs to the luminous range of the corresponding target luminous source.
4. The method of claim 1, wherein if there is at least one road user in the environment, the indication of the relative direction between each road user and the vehicle body by the light emitting source in each relative direction comprises:
if at least one road user exists in the environment, determining a prompt receiving position of each road user;
determining a first relative direction of each road user and the vehicle body according to a connecting line of a prompt receiving position of each road user and a preset vehicle coordinate system origin;
and determining the target luminous source corresponding to each first relative direction according to the luminous ranges respectively corresponding to all the luminous sources, and performing luminous prompt through all the target luminous sources.
5. The method of claim 1, wherein if there is at least one road user in the environment, the indication of the relative direction between each road user and the vehicle body by the light emitting source in each relative direction comprises:
if the environment has only one road user, determining a target luminous source for luminous prompt in all the luminous sources according to the relative direction of the road user and the vehicle body, and performing luminous prompt through the target luminous source;
if the road users with the number less than the preset number exist in the environment, determining at least one target luminous source for luminous prompt in all the luminous sources according to the relative direction of each road user and the vehicle body, and performing luminous prompt through the at least one target luminous source;
if the road users with the number larger than or equal to the preset number exist in the environment, interval light-emitting prompting is carried out through all the light-emitting sources.
6. The method of claim 1, wherein all of the light-emitting sources are disposed on at least one light-emitting strip, all of the light-emitting strips are wound around the vehicle body, all of the light-emitting strips wound around the vehicle body form at least one or at least one group of light-emitting sources corresponding to the vehicle body and the road users in any opposite directions, and if at least one road user exists in the environment, the light-emitting indication is performed by the light-emitting source in each of the opposite directions according to the opposite direction of each road user to the vehicle body, and the method comprises:
if at least one road user exists in the environment, at least one or at least one group of luminous sources of the luminous bands in the opposite direction of each road user and the vehicle body are lightened, and at least one or at least one group of luminous sources of the luminous bands without the road user in the opposite direction are turned off.
7. The method of claim 4, wherein the light-emitting source is a narrow-view light-emitting source having a visual viewing angle of [4 °,10 ° ].
8. The method of claim 1, wherein the obtaining an environment detection result in real time during the automatic driving process, and determining whether at least one road user exists in the environment according to the environment detection result comprises:
in the automatic driving process, obtaining an environment detection result in real time, wherein the environment detection result is used for indicating whether at least one obstacle exists in the environment;
if at least one obstacle exists in the environment, determining whether at least one obstacle of the road user type exists in the environment according to the type of each obstacle so as to determine whether at least one road user exists in the environment.
9. The method of claim 1, wherein the road user comprises: pedestrians, non-motor vehicles, and motor vehicles not in an autopilot state, wherein the autopilot state light is used to indicate whether the motor vehicle is in an autopilot state.
10. An autonomous driving prompter device, for use in an autonomous vehicle having a plurality of light emitting sources disposed around the body of the vehicle, the device comprising:
the system comprises an acquisition module, a judgment module and a control module, wherein the acquisition module is used for acquiring an environment detection result in real time in the automatic driving process and determining whether at least one road user exists in the environment according to the environment detection result;
and the light emitting module is used for giving out light prompt through the light emitting sources in the relative directions according to the relative directions of each road user and the vehicle body if at least one road user exists in the environment.
11. An electronic device comprising a processor and a memory, the memory storing machine-executable instructions executable by the processor, the processor executing the machine-executable instructions to implement the method of prompting autopilot as claimed in any of claims 1-9.
12. A machine-readable storage medium having stored thereon machine-executable instructions which, when invoked and executed by a processor, cause the processor to implement the method of prompting for autopilot of any of claims 1-9.
CN202211349719.7A 2022-10-31 2022-10-31 Prompting method, device and equipment for automatic driving and storage medium Pending CN115593307A (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN202211349719.7A CN115593307A (en) 2022-10-31 2022-10-31 Prompting method, device and equipment for automatic driving and storage medium
PCT/CN2022/132175 WO2024092883A1 (en) 2022-10-31 2022-11-16 Autonomous driving prompting method and apparatus, device, and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202211349719.7A CN115593307A (en) 2022-10-31 2022-10-31 Prompting method, device and equipment for automatic driving and storage medium

Publications (1)

Publication Number Publication Date
CN115593307A true CN115593307A (en) 2023-01-13

Family

ID=84850553

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202211349719.7A Pending CN115593307A (en) 2022-10-31 2022-10-31 Prompting method, device and equipment for automatic driving and storage medium

Country Status (2)

Country Link
CN (1) CN115593307A (en)
WO (1) WO2024092883A1 (en)

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6788477B2 (en) * 2016-03-10 2020-11-25 パナソニック インテレクチュアル プロパティ コーポレーション オブ アメリカＰａｎａｓｏｎｉｃ Ｉｎｔｅｌｌｅｃｔｕａｌ Ｐｒｏｐｅｒｔｙ Ｃｏｒｐｏｒａｔｉｏｎ ｏｆ Ａｍｅｒｉｃａ Recognition result presentation device and recognition result presentation method
JP2017199317A (en) * 2016-04-28 2017-11-02 本田技研工業株式会社 Vehicle control system, vehicle control method, and vehicle control program
CN111564051B (en) * 2020-04-28 2021-07-20 安徽江淮汽车集团股份有限公司 Safe driving control method, device and equipment for automatic driving automobile and storage medium
CN111546981A (en) * 2020-05-08 2020-08-18 新石器慧通（北京）科技有限公司 Vehicle warning device and method and automatic driving vehicle
JP7157780B2 (en) * 2020-08-27 2022-10-20 本田技研工業株式会社 Information presentation device for self-driving cars

Also Published As

Publication number Publication date
WO2024092883A1 (en) 2024-05-10

Similar Documents

Publication Publication Date Title
US11886968B2 (en) Methods and devices for detecting objects and calculating a time to contact in autonomous driving systems
US10788585B2 (en) System and method for object detection using a probabilistic observation model
US20210122364A1 (en) Vehicle collision avoidance apparatus and method
CN114375467B (en) System and method for detecting an emergency vehicle
CN110573978A (en) Dynamic sensor selection for self-driving vehicles
CN110371018B (en) Improving vehicle behavior using information from other vehicle lights
US11763574B2 (en) Multi-modal, multi-technique vehicle signal detection
WO2017095614A1 (en) Collision mitigated braking for autonomous vehicles
US11221399B2 (en) Detecting spurious objects for autonomous vehicles
CN113631452B (en) Lane change area acquisition method and device
EP4145409A1 (en) Pipeline architecture for road sign detection and evaluation
US20200001877A1 (en) Determining Visibility Distances Based on a Dynamic Field of View of a Vehicle
KR20210095757A (en) Vehicle for performing autonomous driving using a plurality of sensors and operating method thereof
CN112829768A (en) Unmanned automobile and control system thereof
US20230386326A1 (en) Systems and methods for detecting pedestrians with crosswalking or jaywalking intent
CN110606091B (en) Object tracking after an object leaves the road of a host vehicle
CN117141463A (en) System, method and computer program product for identifying intent and predictions of parallel parked vehicles
CN115593307A (en) Prompting method, device and equipment for automatic driving and storage medium
US20240101106A1 (en) Systems and methods for scene understanding
US20240092358A1 (en) Systems and methods for scene understanding
US20240166231A1 (en) Systems and methods for determining steer while stopped behavior for a vehicle using dynamic limits
EP4181089A1 (en) Systems and methods for estimating cuboid headings based on heading estimations generated using different cuboid defining techniques
CN117141513B (en) Intelligent monitoring system based on automobile terminal
US20230368663A1 (en) System, method and application for lead vehicle to trailing vehicle distance estimation
US20240192369A1 (en) Systems and methods for infant track association with radar detections for velocity transfer

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination