CN116129370A - Judgment method, judgment device, vehicle, and computer-readable storage medium - Google Patents
Judgment method, judgment device, vehicle, and computer-readable storage medium Download PDFInfo
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- CN116129370A CN116129370A CN202310075372.XA CN202310075372A CN116129370A CN 116129370 A CN116129370 A CN 116129370A CN 202310075372 A CN202310075372 A CN 202310075372A CN 116129370 A CN116129370 A CN 116129370A
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Abstract
The invention discloses a judging method, a judging device, a vehicle and a computer readable storage medium. The judging method is used for judging whether each intersection edge of the intersection can pass or not, each intersection edge corresponds to one driving direction of the intersection, and the intersection edges comprise target intersection edges. The judging method comprises the following steps: dispersing collision elements into collision point clouds, wherein the collision elements comprise elements for obstructing the passing of vehicles; determining a buffer area of the edge of the target intersection; and judging whether the target intersection edge can pass or not according to the collision point cloud in the buffer zone. According to the technical scheme, the collision elements are scattered into the collision point cloud, so that whether the target intersection edge can pass or not can be judged according to the collision point cloud in the buffer zone of the target intersection edge, automatic identification and judgment can be realized, and the time of manual processing is shortened.
Description
Technical Field
The present invention relates to the technical field of intelligent automobiles, and more particularly, to a judgment method, a judgment device, a vehicle, and a computer-readable storage medium.
Background
In the related art, a producer needs to judge whether the sides of the intersection can pass according to collision elements such as lane lines, logic lines, walls, columns and the like, and the map elements are very many and complex, so that the intersections needing to be drawn are also very many, and the labor time is consumed.
Disclosure of Invention
The embodiment of the invention provides a judging method, a judging device, a vehicle and a computer readable storage medium.
The embodiment of the invention provides a judging method which is used for judging whether each intersection edge of an intersection can pass or not, wherein each intersection edge corresponds to one driving direction of the intersection, and the intersection edges comprise target intersection edges. The judging method comprises the following steps: dispersing collision elements into a collision point cloud, wherein the collision elements comprise elements for obstructing the passing of vehicles; determining a buffer area of the target intersection edge; judging whether the target intersection edge can pass or not according to the collision point cloud in the buffer zone.
According to the judging method, the collision elements are scattered into the collision point cloud, so that whether the target intersection edge can pass or not can be judged according to the collision point cloud in the buffer zone of the target intersection edge, automatic identification and judgment can be realized, and the time of manual processing is shortened.
In some embodiments, the determining method further comprises: judging whether the road mark intersects with the target intersection edge or not; under the condition that the road mark is intersected with the target intersection edge, determining that the target intersection edge can pass; and in the case that the road sign does not intersect with the target intersection edge, entering the step of dispersing the collision element into a collision point cloud.
In this way, by judging whether or not the road marking (link) intersects the target intersection edge, it can be determined that the target intersection edge can pass through, and a step of dispersing the collision element into a collision point cloud can be entered.
In some embodiments, the determining the buffer of the target intersection edge includes: determining a buffer radius according to the length of the crossing edge; and taking the intersection edge as a center, and determining the buffer zone according to the buffer radius.
Thus, the proper buffer radius can be determined according to the length of the crossing edge, so that the accurate buffer area is determined according to the buffer radius.
In some embodiments, the determining the buffer radius from the length of the intersection edge comprises: determining a calculated radius according to the length of the crossing edge and a preset weight; and determining the buffer radius according to the calculated radius and the preset radius.
In this way, the buffer radius can be determined by calculating the radius and the preset radius, and by determining the buffer radius, preparation can also be made for the subsequent determination of the buffer.
In some embodiments, the determining whether the target intersection edge is passable according to the collision point cloud in the buffer zone includes: determining that the target intersection edge can pass under the condition that the number of the collision point clouds in the buffer area is smaller than a preset number; and judging whether the target intersection edge can pass or not according to the distribution condition of the collision point clouds under the condition that the number of the collision point clouds in the buffer area is larger than the preset number.
Therefore, the number of the collision point clouds in the buffer area is compared with the preset number, and the fact that the target intersection edge can pass through and whether further judgment is needed or not can be determined according to the comparison result.
In some embodiments, the determining whether the target intersection edge is passable according to the distribution situation of the collision point cloud includes: calculating a regression equation of a target collision point cloud, wherein the collision point cloud comprises the target collision point cloud; calculating average error and standard deviation between the collision point cloud and the regression equation; and judging whether the target intersection edge can pass or not according to the average error and the standard deviation.
Therefore, whether the target intersection edge can pass or not can be determined through judging the distribution condition of the collision point cloud.
In some embodiments, before the calculating the regression equation of the target collision point cloud, the determining whether the target intersection edge is passable according to the distribution situation of the collision point cloud further includes removing noise points in the collision point cloud to obtain the target collision point cloud.
In this manner, by removing noise points in the collision point cloud to obtain a target collision point cloud, preparation can be made for subsequent computation of the target collision point cloud.
In some embodiments, the removing noise points in the collision point cloud to obtain the target collision point cloud comprises: calculating a sample regression equation of the collision point cloud; calculating a sample standard deviation between the collision point cloud and the sample regression equation; and removing noise points in the collision point cloud according to the sample standard deviation and a Grabbs criterion to obtain the target collision point cloud.
In this manner, a target collision point cloud may be obtained by removing noise points in the collision point cloud by the sample standard deviation and the glaubes criterion.
In some embodiments, the determining whether the target intersection edge is passable according to the average error and the standard deviation includes: judging whether the average error is larger than an error threshold value or not, wherein the error threshold value is determined according to the length of the crossing edge and the buffer radius; judging whether the ratio of the average error to the standard deviation is smaller than a preset ratio; and under the condition that the average error is larger than the error threshold value and the ratio is smaller than the preset ratio, determining that the target intersection edge can pass.
Therefore, whether the collision point cloud is near the break point of the intersection edge is judged through calculating the discrete distribution condition of the point cloud, and then the trafficability conclusion of the intersection edge is obtained.
The embodiment of the invention provides a judging device which is used for judging whether each intersection edge of an intersection can pass or not, wherein each intersection edge corresponds to one driving direction of the intersection, and the intersection edges comprise target intersection edges. The judging device comprises a processing module, a determining module and a judging module, wherein the processing module is used for dispersing collision elements into collision point clouds, the collision elements comprise elements for blocking vehicles from passing, the determining module is used for determining a buffer area of the target intersection edge, and the judging module is used for judging whether the target intersection edge can pass or not according to the collision point clouds in the buffer area.
According to the judging device provided by the embodiment of the invention, the collision elements are scattered into the collision point cloud, so that whether the target intersection edge can pass or not can be judged according to the collision point cloud in the buffer zone of the target intersection edge, automatic identification and judgment can be realized, and the time of manual processing is shortened.
An embodiment of the present invention provides a vehicle, including a memory and a processor, where the memory stores a computer program, and the processor implements the method for determining any of the above embodiments when executing the computer program.
According to the vehicle provided by the embodiment of the invention, the collision elements are scattered into the collision point cloud, so that whether the target intersection edge can pass or not can be judged according to the collision point cloud in the buffer zone of the target intersection edge, automatic identification and judgment can be realized, and the time of manual processing is shortened.
An embodiment of the present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the determination method of any of the above embodiments.
According to the computer readable storage medium, the collision elements are scattered into the collision point cloud, so that whether the target intersection edge can pass or not can be judged according to the collision point cloud in the buffer zone of the target intersection edge, automatic identification and judgment can be realized, and the time of manual processing is shortened.
According to the judging method, the judging device, the vehicle and the computer readable storage medium, through dispersing the collision elements into the collision point cloud, whether the target intersection edge can pass or not can be judged according to the collision point cloud in the buffer zone of the target intersection edge, automatic identification and judgment can be realized, and the time of manual processing is shortened.
Additional aspects and advantages of embodiments of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of embodiments of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
FIG. 1 is a flow chart of a method of determining in accordance with certain embodiments of the present invention;
FIG. 2 is a schematic diagram of a judgment device according to some embodiments of the present invention;
FIG. 3 is a schematic illustration of a vehicle of certain embodiments of the present invention;
FIG. 4 is a schematic illustration of an intersection, intersection edge, buffer zone, in accordance with certain embodiments of the present invention;
FIG. 5 is a flow chart of a method of determining in accordance with certain embodiments of the present invention;
FIG. 6 is a schematic diagram of a judgment device according to some embodiments of the present invention;
FIG. 7 is a flow chart of a method of determining in accordance with certain embodiments of the present invention;
FIG. 8 is a flow chart of a method of determining in accordance with certain embodiments of the present invention;
FIG. 9 is a flow chart of a method of determining in accordance with certain embodiments of the present invention;
FIG. 10 is a flow chart of a method of determining in accordance with certain embodiments of the present invention;
FIG. 11 is a flow chart of a method of determining in accordance with certain embodiments of the present invention;
FIG. 12 is a flow chart of a method of determining in accordance with certain embodiments of the present invention;
fig. 13 is a flow chart of a judging method according to some embodiments of the present invention.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only for explaining the present invention and are not to be construed as limiting the present invention.
The following disclosure provides many different embodiments, or examples, for implementing different structures of embodiments of the invention. In order to simplify the disclosure of embodiments of the present invention, components and arrangements of specific examples are described below. They are, of course, merely examples and are not intended to limit the invention.
In the related art, a producer needs to judge whether the sides of the intersection can pass according to collision elements such as lane lines, logic lines, walls, columns and the like, and the map elements are very many and complex, so that the intersections needing to be drawn are also very many, and the labor time is consumed.
Referring to fig. 1, an embodiment of the present invention provides a determining method for determining whether each intersection edge of an intersection can pass, where each intersection edge corresponds to a driving direction of the intersection, and the intersection edge includes a target intersection edge. The judging method comprises the following steps:
01: dispersing collision elements into collision point clouds, wherein the collision elements comprise elements for obstructing the passing of vehicles;
02: determining a buffer area of the edge of the target intersection;
03: and judging whether the target intersection edge can pass or not according to the collision point cloud in the buffer zone.
Referring to fig. 2, an embodiment of the present invention provides a determining apparatus 100, where the determining apparatus 100 includes a processing module 11, a first determining module 12, and a first determining module 13.
The determination method according to the embodiment of the present invention may be implemented by the determination device 100 according to the embodiment of the present invention. Step 01 may be implemented by the processing module 11, step 02 may be implemented by the first determining module 12, and step 03 may be implemented by the first determining module 13. That is, the processing module 11 may be configured to discrete collision elements, including elements that obstruct vehicle traffic, into a collision point cloud. The first determination module 12 may be configured to determine a buffer for the target intersection edge. The first judging module 13 may be configured to judge whether the target intersection edge can pass according to the collision point cloud in the buffer.
According to the judging method and the judging device 100, the collision elements are scattered into the collision point cloud, so that whether the target intersection edge can pass or not can be judged according to the collision point cloud in the buffer zone of the target intersection edge, automatic identification and judgment can be realized, and the time of manual processing is shortened.
Referring to fig. 3, the determining apparatus 100 may be applied to a vehicle 1000. In other embodiments, the determination device 100 may be applied to a background server or the like, and is not particularly limited herein.
Therefore, through dispersing all the collision elements into the collision point cloud, the size and the position information of the collision elements can be more accurately represented, unified analysis is convenient, and meanwhile, the collision point cloud information of the intersection edge is effectively acquired by utilizing the buffer zone. By dispersing the collision elements into collision point clouds, traffic conditions of the intersection sides can be judged according to the collision point clouds in the subsequent steps.
Therefore, through the determination of the buffer area of the target intersection edge, whether the intersection edge can pass or not can be judged according to the condition of collision point clouds in the buffer area of the target intersection edge in the subsequent steps.
And step 03, judging whether the target intersection edge can pass or not according to the collision point cloud in the buffer zone. Specifically, under the condition that the number of the collision point clouds in the buffer area is smaller than the preset number, it can be determined that the target intersection edge can pass, and under the condition that the number of the collision point clouds in the buffer area is larger than the preset number, whether the target intersection edge can pass or not can be determined according to judgment on the distribution condition of the collision point clouds in the buffer area.
Therefore, through judging the condition of the collision point cloud in the buffer zone, the passing of the target intersection edge can be determined, and whether further judgment is needed or not can be determined.
Referring to fig. 5, in some embodiments, the determining method further includes:
04: judging whether the road mark intersects with the target intersection edge or not;
05: under the condition that the road mark is intersected with the target intersection edge, determining that the target intersection edge can pass;
06: in the case where the road sign does not intersect the target intersection edge, a step of dispersing the collision element into a collision point cloud is entered.
Referring to fig. 6, in some embodiments, the determining apparatus 100 further includes a second determining module 14, a second determining module 15, and a skip module 16. Step 04 may be implemented by the second determining module 14, step 05 may be implemented by the second determining module 15, and step 06 may be implemented by the skip module 16. That is, the second determination module 14 may be configured to determine whether the road marking intersects the target intersection edge. The second determining module 15 may be configured to determine that the target intersection edge is able to pass in a case where the road sign intersects the target intersection edge. The jump module 16 may be configured to enter a step of discretizing the collision element into a collision point cloud without intersection of the road marking with the target intersection edge.
In this way, by judging whether or not the road marking (link) intersects the target intersection edge, it can be determined that the target intersection edge can pass through, and a step of dispersing the collision element into a collision point cloud can be entered.
Specifically, a determination may be made as to whether the road marking intersects the target intersection edge before dispersing the collision element into the collision point cloud. When the road sign is intersected with the target intersection edge, the target intersection edge can be determined to pass, and if the road sign is not intersected with the target intersection edge, step 01 is performed to judge whether the target intersection edge can pass or not according to the collision point cloud of the buffer zone of the target intersection edge.
Referring to fig. 7, in some embodiments, step 02 (determining the buffer of the target intersection edge) includes:
021: determining a buffer radius according to the length of the crossing edge;
022: and determining a buffer area by taking the intersection edge as the center according to the buffer radius.
Referring to fig. 2, in some embodiments, steps 021 and 022 may be implemented by the first determination module 12, that is, the first determination module 12 may be used to: determining a buffer radius according to the length of the crossing edge; and determining a buffer area by taking the intersection edge as the center according to the buffer radius.
Thus, the proper buffer radius can be determined according to the length of the crossing edge, so that the accurate buffer area is determined according to the buffer radius.
Specifically, after the buffer radius is determined according to the length of the intersection edge, each point on the intersection edge can be used as a circle center, a circle can be drawn by using the buffer radius, and a set of circles formed by all points on the intersection edge can be used as a buffer zone.
Referring to fig. 8, in some embodiments, step 021 (determining the buffer radius according to the length of the intersection edge) comprises:
0211: determining a calculated radius according to the length of the intersection edge and a preset weight;
0212: and determining the buffer radius according to the calculated radius and the preset radius.
Referring to fig. 2, in some embodiments, step 0211 and step 0212 may be implemented by the first determination module 12, that is, the first determination module 12 may be used to: determining a calculated radius according to the length of the intersection edge and a preset weight; and determining the buffer radius according to the calculated radius and the preset radius.
In this way, the buffer radius can be determined by calculating the radius and the preset radius, and by determining the buffer radius, preparation can also be made for the subsequent determination of the buffer.
Specifically, after the collision element is discretized into the collision point cloud, a calculation radius may be determined according to the length of the intersection edge and a preset weight, and then a buffer radius (radius) may be determined according to the calculation radius and the preset radius. After the collision element is discretized into the collision point cloud, the buffer radius can be determined according to the length (length) of the intersection edge, and the preset weight is, for example, 0.3, that is, the calculated radius is 0.3 times the length of the intersection edge. The preset radius is, for example, 1.2 meters, and the buffer radius is determined according to the calculated radius and the preset radius, and specifically, the minimum value of the calculated radius and the preset radius can be taken as the buffer radius, that is, the buffer radius can be 0.3 time of the length of the side of the intersection, but the maximum value is not more than 1.2 meters. Namely: radius=mate.min (0.3 x length, 1.2).
Referring to fig. 9, in some embodiments, step 03 (determining whether the target intersection edge is passable according to the collision point cloud in the buffer zone) includes:
031: under the condition that the number of the collision point clouds in the buffer area is smaller than the preset number, determining that the target intersection edge can pass through;
032: and under the condition that the number of the collision point clouds in the buffer area is larger than the preset number, judging whether the target intersection edge can pass or not according to the distribution condition of the collision point clouds.
Referring to fig. 2, in some embodiments, step 031 and step 032 may be implemented by the first determining module 13, that is, the first determining module 13 may be configured to: under the condition that the number of the collision point clouds in the buffer area is smaller than the preset number, determining that the target intersection edge can pass through; and under the condition that the number of the collision point clouds in the buffer area is larger than the preset number, judging whether the target intersection edge can pass or not according to the distribution condition of the collision point clouds.
Therefore, the number of the collision point clouds in the buffer area is compared with the preset number, and the fact that the target intersection edge can pass through and whether further judgment is needed or not can be determined according to the comparison result.
Specifically, after determining the buffer area of the target intersection edge, it may be determined whether the number of the collision point clouds in the buffer area is less than a preset number, for example, 3, where the number of the collision point clouds in the buffer area is less than 3, it is indicated that there is no collision element around the target intersection edge, and the target intersection edge may pass, so that no subsequent step is required, it may be determined that the target intersection edge may pass, and if the number is greater than 3, it is required to enter a determination of the distribution situation of the collision point clouds.
Referring to fig. 10, in some embodiments, step 032 (determining whether the target intersection edge is passable according to the distribution of the collision point cloud) includes:
0322: calculating a regression equation of a target collision point cloud, wherein the collision point cloud comprises the target collision point cloud;
0323: calculating average error and standard deviation between the collision point cloud and the regression equation;
0324: and judging whether the edge of the target intersection can pass or not according to the average error and the standard deviation.
Referring to fig. 2, in some embodiments, step 0322, step 0323 and step 0324 may be implemented by the first determining module 13, that is, the first determining module 13 may be configured to: calculating a regression equation of a target collision point cloud, wherein the collision point cloud comprises the target collision point cloud; calculating average error and standard deviation between the collision point cloud and the regression equation; and judging whether the edge of the target intersection can pass or not according to the average error and the standard deviation.
Therefore, whether the target intersection edge can pass or not can be determined through judging the distribution condition of the collision point cloud.
Specifically, under the condition that the number of the collision point clouds in the buffer area is larger than the preset number, calculating a regression equation of the target collision point clouds, wherein the collision point clouds comprise the target collision point clouds, calculating the regression equation of the target collision point clouds by using a principal component analysis (Principal Component Analysis, PCA) algorithm, then calculating an average error and a standard deviation between the collision point clouds and the regression equation, and finally judging whether the target intersection edge can pass or not according to the average error and the standard deviation.
Referring to fig. 11, in some embodiments, before step 0322 (calculating a regression equation of the target collision point cloud, where the collision point cloud includes the target collision point cloud), step 032 (determining whether the target intersection edge can pass according to the distribution situation of the collision point cloud) further includes:
0321: noise points in the collision point cloud are removed to obtain a target collision point cloud.
Referring to fig. 2, in some embodiments, step 0321 may be implemented by the first determining module 13, that is, the first determining module 13 may be configured to remove noise points in the collision point cloud to obtain the target collision point cloud.
In this manner, by removing noise points in the collision point cloud to obtain a target collision point cloud, preparation can be made for subsequent computation of the target collision point cloud.
Specifically, when the number of collision point clouds in the buffer is greater than a preset number, noise points in the collision point clouds may be removed to obtain a target collision point cloud.
Referring to fig. 12, in some embodiments, step 0321 (removing noise points in the collision point cloud to obtain the target collision point cloud) includes:
03211: calculating a sample regression equation of the collision point cloud;
03212: calculating a sample standard deviation between the collision point cloud and a sample regression equation;
03213: noise points in the collision point cloud are removed according to the sample standard deviation and the Grabbs criterion to obtain a target collision point cloud.
Referring to fig. 2, in some embodiments. Step 03211, step 03212 and step 03213 may be implemented by the first determining module 13, that is, the first determining module 13 may be configured to: calculating a sample regression equation of the collision point cloud; calculating a sample standard deviation between the collision point cloud and a sample regression equation; noise points in the collision point cloud are removed according to the sample standard deviation and the Grabbs criterion to obtain a target collision point cloud.
In this manner, a target collision point cloud may be obtained by removing noise points in the collision point cloud by the sample standard deviation and the glaubes criterion.
Specifically, when the number of the collision point clouds in the buffer area is larger than the preset number, calculating a sample regression equation of the collision point clouds, then calculating a sample standard deviation between the collision point clouds and the sample regression equation, and finally removing noise points in the collision point clouds according to the sample standard deviation and a glaubes criterion to obtain the target collision point clouds. In one embodiment, the process of removing noise points according to the glabrous criteria is: and determining a comparison value according to the sample standard deviation, calculating a sample average value of the collision point cloud, and determining the collision point cloud as a noise point if the difference value between the collision point cloud and the sample average value is larger than the comparison value.
Referring to fig. 13, in some embodiments, step 0324 (determining whether the target intersection edge is passable according to the average error and standard deviation) includes:
03241: judging whether the average error is larger than an error threshold value, wherein the error threshold value is determined according to the length of the crossing edge and the buffer radius;
03242: judging whether the ratio of the average error to the standard deviation is smaller than a preset ratio;
03243: and under the condition that the average error is larger than the error threshold value and the ratio is smaller than the preset ratio, determining that the target intersection edge can pass.
Referring to fig. 2, in some embodiments, step 03241, step 03242 and step 03243 may be implemented by the first determining module 13, that is, the first determining module 13 may be configured to: judging whether the average error is larger than an error threshold value, wherein the error threshold value is determined according to the length of the crossing edge and the buffer radius; judging whether the ratio of the average error to the standard deviation is smaller than a preset ratio; and under the condition that the average error is larger than the error threshold value and the ratio is smaller than the preset ratio, determining that the target intersection edge can pass.
Therefore, whether the collision point cloud is near the break point of the intersection edge is judged through calculating the discrete distribution condition of the point cloud, and then the trafficability conclusion of the intersection edge is obtained.
Specifically, after calculating the average error (avd) and standard deviation (std) between the collision point cloud and the regression equation, it is determined whether the average error is greater than an error threshold, which is determined according to the length of the intersection edge and the buffer radius, for example: avd > 0.125 x (length+2 x radius), wherein 0.125 x (length+2 x radius) is the error threshold; and judging whether the ratio of the average error to the standard deviation is smaller than a preset ratio, wherein the preset ratio is, for example, 0.92, namely: avd/std < 0.92. The two formulas are used for measuring the discrete distribution condition of the collision point cloud, and the condition that the collision point cloud is distributed near two end points of the intersection edge is satisfied, so that the trafficability of the intersection edge is not affected, the intersection edge is trafficable, and the target intersection edge can be determined to pass.
Referring to fig. 3, a determination method according to an embodiment of the present invention may be implemented by a vehicle 1000 according to an embodiment of the present invention. Specifically, the vehicle 1000 includes one or more processors 300 and a memory 400. The memory 400 stores a computer program. When the computer program is executed by the processor 300, the steps of the judgment method according to any of the above embodiments are realized.
For example, in the case where the computer program is executed by the processor 300, the steps of the following determination method are implemented:
01: dispersing collision elements into collision point clouds, wherein the collision elements comprise elements for obstructing the passing of vehicles;
02: determining a buffer area of the edge of the target intersection;
03: and judging whether the target intersection edge can pass or not according to the collision point cloud in the buffer zone.
The embodiment of the present invention provides a computer-readable storage medium having stored thereon a computer program that, when executed by the processor 300, implements the steps of the judging method of any one of the above embodiments.
For example, when the program is executed by the processor 300, the steps of the following determination method are implemented:
01: dispersing collision elements into collision point clouds, wherein the collision elements comprise elements for obstructing the passing of vehicles;
02: determining a buffer area of the edge of the target intersection;
03: and judging whether the target intersection edge can pass or not according to the collision point cloud in the buffer zone.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and further implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, system that includes a processing module, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (control method) with one or more wires, a portable computer cartridge (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.
It is to be understood that portions of embodiments of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.
Furthermore, functional units in various embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units may be integrated into one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules may also be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product.
The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, or the like.
In the description of the present specification, reference is made to the description of the term "certain embodiments" or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment or example is included in at least one embodiment of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment. Furthermore, the particular features, structures, or characteristics described may be combined in any suitable manner in any one or more embodiments.
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.
Claims (12)
1. The judging method is characterized by being used for judging whether each intersection edge of an intersection can pass or not, wherein each intersection edge corresponds to one driving direction of the intersection, and the intersection edges comprise target intersection edges; the judging method comprises the following steps:
dispersing collision elements into a collision point cloud, wherein the collision elements comprise elements for obstructing the passing of vehicles;
determining a buffer area of the target intersection edge;
judging whether the target intersection edge can pass or not according to the collision point cloud in the buffer zone.
2. The judgment method according to claim 1, characterized in that the judgment method further comprises:
judging whether the road mark intersects with the target intersection edge or not;
under the condition that the road mark is intersected with the target intersection edge, determining that the target intersection edge can pass;
and in the case that the road sign does not intersect with the target intersection edge, entering the step of dispersing the collision element into a collision point cloud.
3. The method of determining according to claim 1, wherein determining the buffer area of the target intersection edge comprises:
determining a buffer radius according to the length of the crossing edge;
and taking the intersection edge as a center, and determining the buffer zone according to the buffer radius.
4. The method of determining according to claim 3, wherein determining the buffer radius according to the length of the intersection edge comprises:
determining a calculated radius according to the length of the crossing edge and a preset weight;
and determining the buffer radius according to the calculated radius and the preset radius.
5. The method according to claim 1, wherein the determining whether the target intersection edge is passable according to the collision point cloud in the buffer zone includes:
determining that the target intersection edge can pass under the condition that the number of the collision point clouds in the buffer area is smaller than a preset number;
and judging whether the target intersection edge can pass or not according to the distribution condition of the collision point clouds under the condition that the number of the collision point clouds in the buffer area is larger than the preset number.
6. The method according to claim 5, wherein the determining whether the target intersection edge is passable according to the distribution of the collision point cloud includes:
calculating a regression equation of a target collision point cloud, wherein the collision point cloud comprises the target collision point cloud;
calculating average error and standard deviation between the collision point cloud and the regression equation;
and judging whether the target intersection edge can pass or not according to the average error and the standard deviation.
7. The method according to claim 6, wherein before the calculating the regression equation of the target collision point cloud, the determining whether the target intersection edge is passable according to the distribution condition of the collision point cloud further includes:
and removing noise points in the collision point cloud to obtain the target collision point cloud.
8. The method of determining according to claim 7, wherein the removing noise points in the collision point cloud to obtain the target collision point cloud includes:
calculating a sample regression equation of the collision point cloud;
calculating a sample standard deviation between the collision point cloud and the sample regression equation;
and removing noise points in the collision point cloud according to the sample standard deviation and a Grabbs criterion to obtain the target collision point cloud.
9. The method according to claim 6, wherein the determining whether the target intersection edge is passable according to the average error and the standard deviation comprises:
judging whether the average error is larger than an error threshold value or not, wherein the error threshold value is determined according to the length of the crossing edge and the buffer radius;
judging whether the ratio of the average error to the standard deviation is smaller than a preset ratio;
and under the condition that the average error is larger than the error threshold value and the ratio is smaller than the preset ratio, determining that the target intersection edge can pass.
10. The judging device is characterized by being used for judging whether each intersection edge of an intersection can pass or not, wherein each intersection edge corresponds to one driving direction of the intersection, and the intersection edges comprise target intersection edges; the judging device comprises:
a processing module for discretizing a collision element into a collision point cloud, the collision element comprising an element that impedes the passage of a vehicle;
the first determining module is used for determining a buffer area of the target intersection edge;
and the first judging module is used for judging whether the target intersection edge can pass or not according to the collision point cloud in the buffer zone.
11. A vehicle comprising a memory and a processor, the memory storing a computer program, the processor implementing the method of determining according to any one of claims 1-9 when executing the computer program.
12. A computer readable storage medium having stored thereon a computer program, which when executed by a processor implements the judgment method of any of claims 1-9.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310075372.XA CN116129370A (en) | 2023-01-31 | 2023-01-31 | Judgment method, judgment device, vehicle, and computer-readable storage medium |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310075372.XA CN116129370A (en) | 2023-01-31 | 2023-01-31 | Judgment method, judgment device, vehicle, and computer-readable storage medium |
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| CN116129370A true CN116129370A (en) | 2023-05-16 |
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| CN202310075372.XA Pending CN116129370A (en) | 2023-01-31 | 2023-01-31 | Judgment method, judgment device, vehicle, and computer-readable storage medium |
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