Road section trafficability judgment method and device, electronic equipment and computer program product

Abstract

The embodiment of the invention is suitable for the technical field of computers, and provides a road section trafficability judgment method and device, electronic equipment and a computer program product, and the method comprises the steps: obtaining road section information of a to-be-detected road section and a first coordinate of at least one detection point on an obstacle; determining a longitudinal deviation value and a transverse deviation value of the detection point in the to-be-detected road section according to the second coordinate, the third coordinate and the coordinate of the detection point; the longitudinal deviation value is used for representing a deviation value between the detection point and the starting point in the direction of the center line; the transverse deviation value is used for representing the vertical distance between the detection point and the center line; and generating a trafficability judgment result corresponding to the road section to be detected based on the longitudinal deviation value and the transverse deviation value corresponding to the at least one detection point. According to the embodiment, the accuracy of road section trafficability judgment can be improved, so that the driving safety is improved.

Description

TECHNICAL FIELD

[0001] The embodiment of the present application belongs to the technical field of computers, and particularly relates to a road section passability judgment method and device, electronic equipment and computer program product. BACKGROUND

[0002] In an automatic driving system, trajectory planning is a key link to realize safe and efficient driving, and road passability judgment is the basis and premise of trajectory planning. Before trajectory planning, the automatic driving system usually first judges the passability of a to-be-detected road section based on the position information of an obstacle, and determines whether a subsequent step needs to be performed according to the passability judgment result, which is mainly used to determine whether the to-be-detected road section is passable. If the passability judgment result of the to-be-detected road section is incorrect or has deviation, the driving trajectory generated by the automatic driving system will be unreasonable, and even may cause driving collision and other dangerous situations, affecting driving safety and the reliability of automatic driving.

[0003] In the prior art, the automatic driving system usually takes the coordinates of the centroid of an obstacle in a Cartesian coordinate system as the basis for judging the passability of a to-be-detected road section. Although the Cartesian coordinate system can be used to determine the absolute position of the obstacle in space, it cannot intuitively represent the relative position of the obstacle in the to-be-detected road section, which will make the automatic driving system unable to accurately obtain the passable space of the to-be-detected road section, thereby affecting the accuracy of the passability judgment result generated by the automatic driving system, and further affecting the accuracy and rationality of the driving decision, and finally affecting the safety of the automatic driving system. SUMMARY

[0004] Therefore, the embodiment of the present application provides a road section passability judgment method, device, electronic equipment and computer program product to improve the accuracy of road section passability judgment, and further improve the accuracy of driving decision and the safety of the automatic driving system.

[0005] A first aspect of the embodiment of the present application provides a road section passability judgment method, comprising:

[0006] obtaining road section information of a to-be-detected road section and a first coordinate of at least one detection point on an obstacle; the obstacle is located on the to-be-detected road section; the road section information comprises a second coordinate of a starting point of the to-be-detected road section and a plurality of third coordinates used to determine a center line of the to-be-detected road section;

[0007] determining a longitudinal offset value and a transverse offset value of the detection point in the to-be-detected road section according to the second coordinate, the third coordinate and the first coordinate; the longitudinal offset value is used to represent the offset value between the detection point and the starting point in the direction of the center line; and the transverse offset value is used to represent the perpendicular distance between the detection point and the center line.

[0008] generate a passability determination result corresponding to the to-be-detected road segment based on the longitudinal offset value and the lateral offset value corresponding to the at least one detection point.

[0009] In a possible implementation manner of the first aspect, the generating the passability determination result corresponding to the to-be-detected road segment based on the longitudinal offset value and the lateral offset value corresponding to the at least one detection point comprises:

[0010] if the longitudinal offset value and the lateral offset value of any detection point satisfy a preset condition, determining a positional relationship between the any detection point and the center line;

[0011] calculating a remaining distance between the any detection point and a boundary of the to-be-detected road segment according to the positional relationship, a width of the to-be-detected road segment, and the lateral offset value;

[0012] if the remaining distance of the any detection point is less than or equal to a preset first threshold, generating a first determination result; the first determination result is used to indicate that the to-be-detected road segment is impassable.

[0013] In a possible implementation manner of the first aspect, the if the longitudinal offset value and the lateral offset value of any detection point satisfy a preset condition, determining a positional relationship between the any detection point and the center line comprises:

[0014] if the longitudinal offset value of any detection point is located in a first range and the lateral offset value is located in a second range, obtaining the positional relationship between the any detection point and the center line; the second range is determined according to the width of the to-be-detected road segment.

[0015] In a possible implementation manner of the first aspect, the calculating a remaining distance between the any detection point and a boundary of the to-be-detected road segment according to the positional relationship, a width of the to-be-detected road segment, and the lateral offset value comprises:

[0016] if the any detection point is located on the left side of the center line, calculating a remaining distance between the any detection point and a left side boundary of the to-be-detected road segment according to the width of the to-be-detected road segment and the lateral offset value;

[0017] if the any detection point is located on the right side of the center line, calculating a remaining distance between the any detection point and a right side boundary of the to-be-detected road segment according to the width of the to-be-detected road segment and the lateral offset value.

[0018] In a possible implementation manner of the first aspect, the detection point comprises a corner point of an obstacle.

[0019] The generating of the passing judgment result corresponding to the to-be-detected road section based on the longitudinal offset value and the lateral offset value corresponding to the at least one detection point further includes:

[0020] If the longitudinal offset value and / or the lateral offset value of all the detection points do not meet the preset condition, or the residual distances of the detection points meeting the preset condition are all greater than the first threshold value, it is determined whether any two of all the corner points on the obstacle are located on two sides of the center line.

[0021] If the obstacle has two corner points located on two sides of the center line, it is determined whether at least one of all the corner points on the obstacle has a lateral offset value greater than a second threshold value or less than a third threshold value.

[0022] If the obstacle has at least one corner point with a lateral offset value greater than the second threshold value or less than the third threshold value, the first judgment result is generated.

[0023] In a possible implementation manner of the first aspect, the detection points include corner points of the obstacle and intersection points between a boundary of the obstacle and a sampling line on the to-be-detected road section.

[0024] The obtaining of the road section information of the to-be-detected road section and the first coordinates of at least one detection point on the obstacle includes:

[0025] According to a preset sampling interval, at least one sampling line perpendicular to the center line on the to-be-detected road section is determined.

[0026] The first coordinates of the corner points, the first coordinates of the intersection points between the boundary of the obstacle and the sampling line, and the road section information of the to-be-detected road section are obtained.

[0027] In a possible implementation manner of the first aspect, the determining of the longitudinal offset value and the lateral offset value of the detection point in the to-be-detected road section according to the second coordinates, the third coordinates, and the first coordinates includes

[0028] According to the plurality of third coordinates, a projection coordinate of the detection point on the center line is determined.

[0029] According to a distance value between the projection coordinate and the second coordinate, a longitudinal offset value of the detection point in the to-be-detected road section is determined.

[0030] According to a distance value between the projection coordinate and the first coordinate, a lateral offset value of the detection point in the to-be-detected road section is determined.

[0031] The second aspect of the embodiment of the present application provides a road section passability judging device, comprising:

[0032] a coordinate obtaining module, configured to obtain road section information of a to-be-detected road section and a first coordinate of at least one detection point on an obstacle; the obstacle is located on the to-be-detected road section; the road section information comprises a second coordinate of a starting point of the to-be-detected road section and a plurality of third coordinates used to determine a center line of the to-be-detected road section;

[0033] a deviation value determining module, configured to determine a longitudinal deviation value and a transverse deviation value of the detection point in the to-be-detected road section according to the second coordinate, the third coordinate and the first coordinate; the longitudinal deviation value is used to represent a deviation value between the detection point and the starting point in the direction of the center line; and the transverse deviation value is used to represent a perpendicular distance between the detection point and the center line;

[0034] a judging module, configured to generate a passability judging result corresponding to the to-be-detected road section based on the longitudinal deviation value and the transverse deviation value corresponding to the at least one detection point.

[0035] The third aspect of the embodiment of the present application provides an electronic device, comprising a memory, a processor and a computer program stored in the memory and capable of running on the processor, and the processor implements the road section passability judging method of the first aspect.

[0036] The fourth aspect of the embodiment of the present application provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the road section passability judging method of the first aspect.

[0037] The fifth aspect of the embodiment of the present application provides a computer program product, which, when running on a computer, causes the computer to execute the road section passability judging method of the first aspect.

[0038] Compared with the prior art, the embodiment of the present application has the following advantages:

[0039] In the embodiment of the present application, the vehicle terminal can determine a detection point on the obstacle on the to-be-detected road section, and obtain a lateral offset value and a longitudinal offset value of the detection point in the to-be-detected road section according to the first coordinate corresponding to the detection point and the plurality of feature coordinates (such as the second coordinate and the third coordinate) corresponding to the to-be-detected road section. Since the longitudinal offset value can determine the distance relationship between the obstacle and the starting point of the to-be-detected road section, and the lateral offset value can represent the degree of deviation of the obstacle from the center line of the road, the above two offset values can describe the relative position of the obstacle in the to-be-detected road section from different dimensions, so that the vehicle terminal can more accurately analyze the passing space of the to-be-detected road section, that is, the vehicle terminal can generate the passing judgment result corresponding to the to-be-detected road section according to the above two offset values. Compared with the existing road section passing judgment technology, the passing judgment result in the embodiment of the present application is not generated based on the coordinates of the centroid of the obstacle in the Cartesian coordinate system, but can more accurately determine the passing space corresponding to the to-be-detected road section through the above-mentioned lateral offset value and longitudinal offset value, thereby improving the accuracy of the passing judgment, and further improving the accuracy and rationality of the driving decision, and finally improving the safety of the automatic driving system. BRIEF DESCRIPTION OF DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0041] Figure 1 is a schematic diagram of a road section passing judgment method provided by an embodiment of the present application;

[0042] Figure 2 is a schematic diagram of a to-be-detected road section provided by an embodiment of the present application;

[0043] Figure 3 is a schematic diagram of a detection point and a sampling line provided by an embodiment of the present application;

[0044] Figure 4 is a schematic diagram of a virtual framework and an actual contour of an obstacle provided by an embodiment of the present application;

[0045] Figure 5 is a schematic diagram of another road section passing judgment method provided by an embodiment of the present application;

[0046] Figure 6 is a schematic diagram of an obstacle crossing a lane provided by an embodiment of the present application;

[0047] Figure 7This is a flow chart of feasibility determination provided by an embodiment of the present application;

[0048] Figure 8 This is a schematic diagram of a device for determining the passability of a road section provided in an embodiment of the present application;

[0049] Figure 9 This is a schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0050] In the following description, specific details such as specific system structures and technologies are provided for the purpose of illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obstructing the description of the present application with unnecessary details.

[0051] In an autonomous driving system, the collaborative work of the decision-making module and the planning module is key to achieving autonomous vehicle driving. The decision-making module determines the passability of the road section to be inspected based on obstacle location information and generates driving decisions based on these results, such as maintaining the current lane, changing lanes left or right, or overtaking. The planning module generates specific driving trajectories based on the driving decisions generated by the decision-making module. Separating the decision-making and planning modules in an autonomous driving system improves system scalability, enabling developers to better design and optimize the autonomous driving system. However, with this module deployment approach, if the decision-making module's passability determination for the road section to be inspected is incorrect or biased, the driving trajectory generated by the planning module will be unreasonable, potentially leading to dangerous situations such as collisions, compromising driving safety and the reliability of autonomous driving. Therefore, the safety of the driving trajectory generated by the planning module depends primarily on the accuracy of the decision-making module's passability determination of the road section to be inspected.

[0052] In the prior art, many automatic driving systems are simple in the method for judging the passability of a to-be-detected road section, and usually only take the geometric shape of an obstacle and the coordinates of the centroid of the obstacle in a Cartesian coordinate system as the basis for judging the passability of the to-be-detected road section. The Cartesian coordinate system can only give the absolute position information of the obstacle, and cannot reflect the relative position relationship between the obstacle and the to-be-detected road section, such as the distance between the obstacle and the road boundary or the lane line. Meanwhile, only considering the geometric shape and the centroid coordinates cannot comprehensively reflect the spatial distribution of the obstacle in the to-be-detected road section and the influence of the obstacle on the passable space of the to-be-detected road section, especially in the case of a large obstacle volume, the deviation between the coordinates of the centroid and the coordinates of the corner point is large, and the judgment of the passability of the road section based on the coordinates of the centroid may further increase the probability of judgment error. Therefore, the passability judgment method in the prior art may lead to inaccurate judgment of the passability of the to-be-detected road section by the decision module.

[0053] In view of this, the embodiments of the present application provide a method for judging the passability of a road section, which can be applied to a vehicle terminal with an automatic driving system. The automatic driving system can include a decision module and a planning module. The decision module can generate a corresponding passability judgment result by using the method for judging the passability of a road section provided by the embodiments of the present application, and then generate a driving decision according to the passability judgment result. The planning module can perform trajectory planning according to the result output by the decision module. The method provided by the embodiments of the present application enables the vehicle terminal to judge the passability of a to-be-detected road section according to the lateral offset value and the longitudinal offset value of the detection points on the obstacle. Since the longitudinal offset value enables the vehicle terminal to understand the position of the obstacle in the extension direction of the road section, and the lateral offset value can represent the degree of deviation of the obstacle from the road center line, the lateral offset value and the longitudinal offset value can reflect the spatial distribution of the obstacle in the to-be-detected road section and the influence of the obstacle on the passable space of the to-be-detected road section. Therefore, the method provided by the embodiments of the present application enables the vehicle terminal to more accurately evaluate the passability of the to-be-detected road section, thereby improving the accuracy of the passability judgment of the road section by the vehicle terminal, and further improving the accuracy and rationality of the driving decision generated by the vehicle terminal, and improving the safety of automatic driving.

[0054] The technical solutions of the present application will be described below through specific embodiments.

[0055] Reference Figure 1, a schematic diagram of a road section passability judgment method provided in an embodiment of the present application is shown. The method can be applied to a vehicle terminal. The vehicle terminal can include an electronic control unit (ECU), a micro controller unit (MCU), a central processing unit (CPU), and the like processing chip, and a program configured with the road section passability judgment method is run through the processing chip. The road section passability judgment method can specifically include the following steps:

[0056] S101, obtain road section information of a to-be-detected road section and first coordinates of at least one detection point on an obstacle.

[0057] In this embodiment, in the starting state of the vehicle, the vehicle terminal on the vehicle can continuously perform passability judgment on each to-be-detected road section around the vehicle to generate a driving decision according to the passability judgment results of all to-be-detected road sections around the vehicle. Figure 2 A schematic diagram of a to-be-detected road section provided in an embodiment of the present application is shown. As shown in Figure 2 The to-be-detected road section can be composed of a solid line 1 and a dashed line 2. The solid line 1 can represent the boundary of the to-be-detected road section, and the dashed line 2 between the two solid lines 1 can represent the center line of the to-be-detected road section. The vehicle runs on the A road section, and the to-be-detected road section can be the B road section in front of the A road section, the C road section on the left side of the A road section, the D road section on the right side of the A road section, or the E road section on the right side of the A road section.

[0058] Specifically, when the vehicle terminal needs to perform passability judgment on a to-be-detected road section, it can first determine whether there is an obstacle on the to-be-detected road section. If the vehicle terminal determines that there is no obstacle on the to-be-detected road section, the vehicle terminal can generate a second judgment result corresponding to the to-be-detected road section. The second judgment result can be used to indicate that the to-be-detected road section is passable. If the vehicle terminal determines that there is an obstacle on the to-be-detected road section, the vehicle terminal can obtain road section information corresponding to the to-be-detected road section and first coordinates of at least one detection point on the obstacle to perform passability judgment on the to-be-detected road section according to the detection points on the obstacle. The road section information of the to-be-detected road section can include second coordinates of a starting point of the to-be-detected road section and a plurality of third coordinates for determining the center line of the to-be-detected road section. When there are a plurality of obstacles on the to-be-detected road section, the vehicle terminal can obtain the first coordinates of the corresponding detection points of each obstacle and sequentially perform passability judgment according to the detection points of each obstacle.

[0059] Specifically, the center line of the to-be-detected road section can be represented as a coordinate set containing a plurality of third coordinates, such as C={(xi , y i ), i = 1, 2,..., n}, where (x i , y i ) can be the ith third coordinate on the to-be-detected road section, and n can be the total number of third coordinates in the coordinate set, where the first third coordinate on the to-be-detected road section can be the coordinate corresponding to the starting point of the to-be-detected road section.

[0060] In a possible implementation, the vehicle terminal can obtain the map data within a certain range around the vehicle through a global positioning system (GPS). Specifically, the map data can include identification information of lane lines on the road, signs and other fixed objects on the roadside, and the map data can also include position coordinates of points on the lane lines around the vehicle.

[0061] In a possible implementation, the detection points on the obstacle can include corner points of the obstacle and intersection points between boundaries of the obstacle and the sampling lines on the to-be-detected road section. The corner point specifically refers to an intersection point between any two boundaries of the obstacle. For example, Figure 3 A schematic diagram of detection points and sampling lines provided by an embodiment of the present application is shown. Referring to Figure 3 , there is an obstacle 5 in the to-be-detected road section in front of the vehicle 3. In order to further improve the accuracy of the trafficability judgment, the vehicle terminal can set multiple sampling lines 4 on the to-be-detected road section. The A point and the B point in the figure can be intersection points between the boundaries of the obstacle 5 and the sampling lines 4, and the C point can be one of the corner points on the obstacle 5.

[0062] In some implementations, the above sampling lines can be multiple straight lines perpendicular to the center line of the to-be-detected road section, which can be set by the vehicle terminal according to a preset sampling interval. Specifically, the vehicle terminal can set multiple sampling lines in the area of the to-be-detected road section where the obstacle is located, with the boundaries of the obstacle as the starting positions. The vehicle terminal can also set multiple sampling lines on the entire to-be-detected road section, with the starting point of the to-be-detected road section as the starting position. Continuing to refer to Figure 3 , Figure 3 , the solid line 1 in the figure can be the boundary of the to-be-detected road section, and the dashed line 2 between the two solid lines 1 can be the center line of the to-be-detected road section. As Figure 3As shown, after the vehicle terminal obtains the road segment information of the to-be-detected road segment and the obstacle information corresponding to the obstacle, the vehicle terminal can draw a schematic diagram containing the to-be-detected road segment and the obstacle according to the road segment information and the obstacle information, and draw a plurality of sampling lines 4 perpendicular to the center line of the to-be-detected road segment in the diagram according to a sampling interval. For example, the sampling interval can be 2 meters. When the sampling line 4 passes through the obstacle, the sampling line 4 can intersect the left boundary of the obstacle 5 to obtain an intersection point A, and the sampling line 4 can also intersect the right boundary of the obstacle 5 to obtain an intersection point B.

[0063] In the prior art, after the vehicle terminal calculates the longitudinal offset value and the transverse offset value corresponding to each corner point on the obstacle, the vehicle terminal fits a virtual framework corresponding to the obstacle according to the maximum value in the longitudinal offset values of all the corner points and the maximum value in the transverse offset values of all the corner points, and judges the passability of the to-be-detected road segment according to the virtual framework of the obstacle. Figure 4 A schematic diagram of a virtual framework and an actual contour of an obstacle is shown. As shown in FIG. 1, a vehicle terminal is located on a to-be-detected road segment, and a vehicle in front of the vehicle terminal is located on a to-be-detected road segment in front of the vehicle terminal. The to-be-detected road segment in front of the vehicle terminal contains an obstacle. Figure 4 As shown, there is an obstacle on the to-be-detected road segment in front of the vehicle. In order to judge the passability of the to-be-detected road segment in front of the vehicle, the vehicle terminal fits a virtual framework corresponding to the obstacle according to the maximum value in the longitudinal offset values of all the corner points on the obstacle and the maximum value in the transverse offset values of all the corner points. However, the area of the virtual framework fitted by the vehicle terminal according to the maximum value in the longitudinal offset values and the maximum value in the transverse offset values is larger than the actual area of the obstacle, and the virtual framework occupies more space on the to-be-detected road segment compared with the virtual framework fitted according to the obstacle itself. Therefore, the accuracy of the passability judgment method in the prior art is low.

[0064] In view of this, the embodiments of the present application further provide a method for judging the passability of a to-be-detected road segment according to the corner points of an obstacle and the intersection points between the boundary of the obstacle and a sampling line as detection points. Since the longitudinal offset value and the transverse offset value of each corner point accurately represent the contour of the obstacle, and the intersection points between the boundary of the obstacle and the sampling line can more meticulously present the trend and range of the obstacle boundary, the embodiments of the present application continue to refer to Figure 4 , Figure 4 In the prior art, a virtual framework corresponding to the obstacle is fitted according to the maximum value in the longitudinal offset values of all the corner points and the maximum value in the transverse offset values of all the corner points.

[0065] Figure 4The profile boundary of the obstacle is determined according to the longitudinal offset value and the lateral offset value of each corner point on the obstacle in the embodiment, and the longitudinal offset value and the lateral offset value of each corner point can more accurately represent the profile of the obstacle. Therefore, the method for determining the passability of the road section provided in the embodiment can further improve the accuracy of the passability determination method. In addition, compared with processing the overall information of the obstacle, the passability determination according to the detection points on the obstacle can improve the accuracy while reducing the calculation amount required for the passability determination, thereby improving the operation efficiency and real-time performance of the passability determination of the road section, so that the vehicle terminal can complete the passability determination of the road section within milliseconds.

[0066] In a possible implementation, after determining that there is an obstacle on the to-be-detected road section, the vehicle terminal can obtain the first coordinates corresponding to each corner point on the obstacle, and determine the passability of the to-be-detected road section according to the first coordinates of each corner point on the obstacle. The specific method for determining the passability of the to-be-detected road section according to the longitudinal offset value and the lateral offset value of the corner point is similar to the method in the second embodiment of the present application, and the reader can refer to the content in the second embodiment of the present application and replace the "detection point" with the "corner point" to understand the specific method for determining the passability of the to-be-detected road section according to the longitudinal offset value and the lateral offset value of the corner point.

[0067] In a possible implementation, after determining the sampling line on the to-be-detected road section, the vehicle terminal can further obtain the first coordinates of the intersection points between the boundary of the obstacle and the sampling line. Then, the vehicle terminal can obtain the first coordinates corresponding to each intersection point to further determine the passability of the to-be-detected road section according to the intersection points. The specific method for determining the passability of the to-be-detected road section according to the longitudinal offset value and the lateral offset value of the intersection point is similar to the method in the second embodiment of the present application, and the reader can refer to the content in the second embodiment of the present application and replace the "detection point" with the "intersection point between the boundary of the obstacle and the sampling line" to understand the specific method for determining the passability of the to-be-detected road section according to the longitudinal offset value and the lateral offset value of the intersection point.

[0068] According to the method provided in the embodiment, the vehicle terminal can screen out multiple detection points that can accurately represent the relative position relationship between the obstacle and the to-be-detected road section, and determine the passability of the to-be-detected road section according to the multiple different detection points. Therefore, the method provided in the embodiment can deeply analyze the obstacle on the to-be-detected road section, thereby improving the accuracy of the passability determination.

[0069] S102, determine the longitudinal offset value and the lateral offset value of the detection point in the to-be-detected road section according to the second coordinates, the third coordinates and the first coordinates.

[0070] In this embodiment, after obtaining the first coordinates corresponding to the detection points, the vehicle terminal can determine the longitudinal offset value and the lateral offset value of the detection points in the to-be-detected road segment according to the second coordinate corresponding to the starting point of the to-be-detected road segment and the plurality of third coordinates. The longitudinal offset value corresponding to a certain detection point can be used to represent the offset value between the detection point and the starting point of the to-be-detected road segment in the center line direction of the to-be-detected road segment. The longitudinal offset value corresponding to a certain detection point can be used to represent the offset value between the detection point and the starting point of the to-be-detected road segment in the center line direction of the to-be-detected road segment.

[0071] In a possible implementation, after obtaining the plurality of third coordinates used to determine the center line of the to-be-detected road segment, the vehicle terminal can construct a Frenet coordinate system according to the center line of the to-be-detected road segment. The longitudinal axis (s-axis) of the Frenet coordinate system can be the center line of the to-be-detected road segment, and the transverse axis (l-axis) can be perpendicular to the center line, for example, the center line determined above. The origin of the Frenet coordinate system can be determined according to the position of the obstacle in the to-be-detected road segment. Specifically, if the distance between the centroid of the obstacle and the starting point of the to-be-detected road segment is greater than or equal to the preset rearview distance, the origin of the Frenet coordinate system can be the starting point of the to-be-detected road segment. If the distance between the centroid of the obstacle and the starting point of the to-be-detected road segment is less than the preset rearview distance, the origin of the Frenet coordinate system can be the starting point of the road segment behind the to-be-detected road segment. Specifically, the positive direction of the longitudinal axis can be determined according to the direction of vehicle advancement, and correspondingly, the negative direction of the longitudinal axis can be determined according to the direction opposite to the direction of vehicle advancement. The positive direction of the transverse axis can be the direction pointing to the left side of the center line, and the direction pointing to the right side of the center line can be the negative direction of the transverse axis. After constructing the Frenet coordinate system, the vehicle terminal can convert the first coordinates corresponding to the detection points into coordinates in the Frenet coordinate system. Specifically, the coordinates of the detection points in the Frenet coordinate system can be composed of the longitudinal offset value and the lateral offset value of the detection points.

[0072] For any detection point on the obstacle, the vehicle terminal can determine the projection coordinate of the detection point on the center line of the to-be-detected road segment according to the plurality of third coordinates and the first coordinate corresponding to the detection point. For any detection point, after determining the projection coordinate of the detection point on the center line, the vehicle terminal can determine the longitudinal offset value of the detection point in the to-be-detected road segment according to the distance value between the projection coordinate and the second coordinate corresponding to the starting point of the to-be-detected road segment. The vehicle terminal can also determine the lateral offset value of the detection point in the to-be-detected road segment according to the distance value between the projection coordinate and the first coordinate.

[0073] In a possible implementation, the vehicle-mounted terminal can calculate distances between each third coordinate and the first coordinate of the detection point respectively, and determine the third coordinate with the smallest distance as the projection coordinate of the detection point on the center line. Specifically, the function for calculating the projection coordinate can be as follows.

[0074]

[0075] where (x p , y p ) can represent the projection coordinate corresponding to the detection point. (x v , y v ) can represent the first coordinate corresponding to the detection point. (x i , y i ) can be the ith third coordinate on the to-be-detected road section. argmin can represent the minimum function. C can represent a coordinate set containing multiple third coordinates.

[0076] In a possible implementation, after obtaining the multiple third coordinates, the vehicle-mounted terminal can also perform nonlinear fitting according to the multiple third coordinates to fit the center line function corresponding to the center line. After determining the center line function, the vehicle-mounted terminal can calculate the projection of the first coordinate corresponding to the detection point on the center line function to determine the projection coordinate of the detection point on the center line.

[0077] S103, generating a passability determination result corresponding to the to-be-detected road section based on the longitudinal offset value and the lateral offset value corresponding to at least one detection point.

[0078] In this embodiment, after obtaining the longitudinal offset value and the lateral offset value corresponding to each detection point on the obstacle respectively, the vehicle-mounted terminal can determine the passable space of the to-be-detected road section containing the obstacle according to the longitudinal offset value and the lateral offset value corresponding to each detection point respectively, and generate a passability determination result corresponding to the to-be-detected road section. The passability determination result can be used to indicate whether the to-be-detected road section can be passed.

[0079] Specifically, the vehicle terminal can determine whether the obstacle occupies the to-be-detected road section according to the longitudinal offset value and the lateral offset value of the detection point. If the vehicle terminal determines that the obstacle occupies the to-be-detected road section according to the longitudinal offset value and the lateral offset value of the detection point, the vehicle terminal can further calculate the remaining distance between the obstacle and the boundary of the to-be-detected road section according to the longitudinal offset value and the lateral offset value of the detection point. Then, the vehicle terminal can determine whether the remaining distance is less than or equal to the first threshold value, to further determine whether the to-be-detected road section is passable according to the remaining distance. If the vehicle terminal determines that the remaining distance is less than or equal to the first threshold value, the vehicle terminal can determine that the road section is occupied by the obstacle and the remaining space is insufficient for passing, in which case the vehicle terminal can generate a first determination result. The first threshold value can be set by the developer according to the width of the vehicle. The first determination result can indicate that the to-be-detected road section is occupied by the obstacle and the remaining space on the to-be-detected road section is insufficient for passing, so the to-be-detected road section is impassable. If the vehicle terminal determines that the remaining distance is greater than the first threshold value, the vehicle terminal can generate a second determination result. The second determination result can indicate that the to-be-detected road section is not occupied by the obstacle and the to-be-detected road section is passable.

[0080] If the vehicle terminal determines that the obstacle does not occupy the to-be-detected road section according to the longitudinal offset value and the lateral offset value of the detection point, the vehicle terminal can generate a third determination result. The third determination result can indicate that the to-be-detected road section is not occupied by the obstacle, so the to-be-detected road section is passable.

[0081] In a possible implementation, the vehicle terminal can sequentially determine the passability of the detection points on the to-be-detected road section. After the vehicle terminal generates the first determination result according to a detection point, the vehicle terminal can stop determining the passability of the remaining detection points. If the vehicle terminal generates the second determination result or the third determination result according to a detection point, the vehicle terminal can continue determining the passability of the remaining detection points.

[0082] In this embodiment, the vehicle terminal can determine the passability of the to-be-detected road section according to the longitudinal offset value and the lateral offset value of the detection point, and generate a passability determination result. The method provided in this embodiment enables the vehicle terminal to determine the passability according to the relative position of the obstacle in the to-be-detected road section, overcoming the deficiency that the spatial relationship between the obstacle and the to-be-detected road section cannot be reflected when the position of the obstacle is described only by using the Cartesian coordinate system. Therefore, the method provided in this embodiment can improve the accuracy of the vehicle terminal in determining the passability of the to-be-detected road section, thereby providing a data basis for the vehicle terminal to generate a more reasonable driving decision, and further improving the safety of the vehicle.

[0083] Figure 5 A specific implementation flowchart of a method S103 for determining the passability of a road section is shown in the second embodiment of the present application. Referring toFigure 5 , compared with Figure 1 The embodiment provides a method for judging the passability of a road section, and S103 comprises the following steps S501-S506, which are specifically described as follows.

[0084] S501, if the longitudinal offset value and the lateral offset value of any detection point meet preset conditions, the positional relationship between any detection point and the center line is determined.

[0085] In the embodiment, after the vehicle terminal obtains the longitudinal offset value and the lateral offset value of all detection points on the to-be-detected road section, the vehicle terminal can judge whether the longitudinal offset value and the lateral offset value of each detection point meet preset conditions respectively. If the vehicle terminal determines that the longitudinal offset value and the lateral offset value of any detection point meet the preset conditions, the vehicle terminal can determine that the obstacle occupies the to-be-detected road section, and the vehicle terminal can obtain the positional relationship between the detection point meeting the preset conditions and the center line. Specifically, the positional relationship between the detection point and the center line can include that the detection point is located on the left side of the center line and the detection point is located on the right side of the center line.

[0086] In some implementations, the above-mentioned positional relationship is used to determine the boundary type used when calculating the remaining distance. If the vehicle terminal determines that the detection point is located on the left side of the center line, the vehicle terminal can calculate the remaining distance between the to-be-detected point and the left boundary of the to-be-detected road section according to the width of the to-be-detected road section and the lateral offset value corresponding to the detection point. If the vehicle terminal determines that the detection point is located on the right side of the center line, the vehicle terminal can calculate the remaining distance between the to-be-detected point and the right boundary of the to-be-detected road section according to the width of the to-be-detected road section and the lateral offset value corresponding to the detection point.

[0087] Specifically, when the vehicle terminal establishes the Frenet coordinate system, the direction on the longitudinal axis pointing to the front of the vehicle can be determined as the positive direction of the transverse axis, and the direction on the longitudinal axis pointing to the rear of the vehicle can be determined as the negative direction of the longitudinal axis. The direction on the transverse axis pointing to the left side of the center line can be determined as the positive direction of the transverse axis, and the direction on the transverse axis pointing to the right side of the center line can be determined as the negative direction of the transverse axis. Therefore, the vehicle terminal can determine the positional relationship between the detection point and the center line according to the positive and negative of the lateral offset value of the detection point. When the lateral offset value of the detection point is positive, the vehicle terminal can determine that the detection point is located on the left side of the center line, and when the lateral offset value of the detection point is negative, the vehicle terminal can determine that the detection point is located on the right side of the center line.

[0088] In a possible implementation, if the vehicle terminal determines that the longitudinal offset value and the lateral offset value of all detection points do not meet the preset conditions, the vehicle terminal can further judge whether any two of all the corner points on the obstacle are located on the two sides of the center line. The judgment method of the vehicle terminal is described in S504 of the embodiment, which is not repeated here.

[0089] In a possible implementation, for any one detection point on the to-be-detected road section, if the vehicle terminal determines that the longitudinal offset value of the detection point is located in the first range and the lateral offset value of the detection point is located in the second range, the vehicle terminal can determine that the longitudinal offset value and the lateral offset value of the detection point meet the preset condition. If the vehicle terminal determines that the longitudinal offset value of the detection point is located outside the first range, and / or the lateral offset value of the detection point is located outside the second range, the vehicle terminal can determine that the longitudinal offset value and the lateral offset value of the detection point do not meet the preset condition. The second range can be determined according to the width of the to-be-detected road section. Specifically, the maximum value in the second range can be 1.5 times the width of the to-be-detected road section, and the minimum value in the second range can be 0. The first range can be -20 meters to 20 meters.

[0090] S502, according to the positional relationship, the width of the to-be-detected road section and the lateral offset value, calculating the remaining distance between any detection point and the boundary of the to-be-detected road section.

[0091] In this embodiment, after the vehicle terminal obtains the positional relationship between the detection point meeting the preset condition and the center line, the vehicle terminal can calculate the remaining distance between the detection point and the boundary of the to-be-detected road section according to the positional relationship, the width of the to-be-detected road section and the lateral offset value corresponding to the detection point.

[0092] In a possible implementation, if the lateral offset value of the detection point meeting the preset condition is positive, that is, the vehicle terminal can determine that the detection point is located on the left side of the center line, the vehicle terminal needs to calculate the distance between the detection point and the left boundary of the to-be-detected road section. At this time, since the lateral offset value of the detection point is positive, the vehicle terminal can calculate the remaining distance between the detection point and the left boundary of the to-be-detected road section according to the difference between the width of the to-be-detected road section and the lateral offset value. The specific calculation formula can be as follows.

[0093] l1=(W load / 2)-l v

[0094] Wherein, l1 can represent the remaining distance between the detection point and the left boundary of the to-be-detected road section. W load may represent the width of the to-be-detected road section. l v may represent the lateral offset value of the detection point.

[0095] If the lateral offset value of the preset condition detection point is negative, that is, the vehicle terminal can determine that the detection point is located on the right side of the center line, the vehicle terminal needs to calculate the distance between the detection point and the right boundary of the to-be-detected road section. At this time, since the lateral offset value of the detection point is negative, the vehicle terminal can calculate the remaining distance between the detection point and the right boundary of the to-be-detected road section according to the sum of the width of the to-be-detected road section and the lateral offset value. The specific calculation formula can be as follows.

[0096] l1=(W load / 2)+l v

[0097] S503, if the remaining distance of any detection point is less than or equal to the preset first threshold, a first determination result is generated.

[0098] In this embodiment, after the vehicle terminal calculates the remaining distance corresponding to the detection point that meets the preset condition, it can be determined whether there is at least one detection point in all detection points that meet the preset condition whose remaining distance is less than or equal to the preset first threshold. If the vehicle terminal determines that there is at least one detection point in all detection points that meet the preset condition whose remaining distance is less than or equal to the preset first threshold, the vehicle terminal can determine that the current to-be-detected road section is occupied by an obstacle, and the remaining space is insufficient for passing, so the vehicle terminal can generate a first determination result.

[0099] S504, if the longitudinal offset value and the lateral offset value of all detection points do not meet the preset condition, or the remaining distance of the detection point that meets the preset condition is greater than the first threshold, it is determined whether any two of all the corner points on the obstacle are located on both sides of the center line.

[0100] In this embodiment, if the vehicle terminal determines that the longitudinal offset value and the lateral offset value of all detection points on the to-be-detected road section do not meet the preset condition, or the remaining distance of each detection point in all detection points that meet the preset condition is greater than the first threshold, the vehicle terminal can further determine whether any two of all the corner points on the obstacle are located on both sides of the center line. Figure 6 A schematic diagram of an obstacle across the lane is shown. As Figure 6 shown, when the obstacle crosses the to-be-detected road section and the obstacle is located between the two sampling lines, in this case, the vehicle terminal cannot identify the case that the obstacle occupies the to-be-detected road section only according to the corner points of the obstacle and the intersection between the boundary of the obstacle and the sampling line. In view of this, in this embodiment, the vehicle terminal also needs to further determine whether the obstacle crosses the to-be-detected road section by judging whether each corner point on the obstacle is located on both sides of the center line.

[0101] Specifically, if the vehicle terminal determines that the lateral offset value of one of all the corner points of the obstacle is positive and the lateral offset value of another corner point is negative, the vehicle terminal can determine that any two corner points on the obstacle are located on two sides of the center line. If the vehicle terminal determines that the lateral offset values of all the corner points on the obstacle are positive or the lateral offset values of all the corner points on the obstacle are negative, the vehicle terminal can determine that any two corner points on the obstacle are not located on two sides of the center line.

[0102] In a possible implementation, in a case where the longitudinal offset value and the lateral offset value of all the detection points do not satisfy the preset condition, if the vehicle terminal determines that any two corner points on the obstacle are not located on two sides of the center line, the vehicle terminal can determine that the current obstacle does not occupy the to-be-detected road section, and the vehicle terminal can generate a third determination result. In a case where the residual distance of all the detection points in all the detection points satisfying the preset condition is greater than the first threshold value, if the vehicle terminal determines that any two corner points on the obstacle are not located on two sides of the center line, the vehicle terminal can determine that the obstacle occupies the to-be-detected road section, but the remaining space of the to-be-detected road section is sufficient for passing, and in this case, the vehicle terminal can generate a second determination result.

[0103] S505, if the obstacle has two corner points located on two sides of the center line, it is determined whether there is at least one corner point on the obstacle whose lateral offset value is greater than a second threshold value or less than a third threshold value.

[0104] In this embodiment, if the vehicle terminal determines that the obstacle has two corner points located on two sides of the center line, the vehicle terminal can further determine whether there is at least one corner point on the obstacle whose lateral offset value is greater than a second threshold value or less than a third threshold value. Specifically, the second threshold value can be half the width of the to-be-detected road section, and the third threshold value can be the negative of half the width of the to-be-detected road section.

[0105] In one possible implementation, when the longitudinal offset values ​​and lateral offset values ​​of all detection points do not meet the preset conditions, if the on-board terminal determines that all corner points on the obstacle are within the range of the second threshold and the third threshold, that is, all corner points on the obstacle are less than or equal to the second threshold and greater than or equal to the third threshold, then the on-board terminal can determine that the current obstacle does not occupy the road section to be detected, and the on-board terminal can generate a third determination result. When the remaining distances of all detection points among all detection points that meet the preset conditions are greater than the first threshold, if the on-board terminal determines that all corner points on the obstacle are within the range of the second threshold and the third threshold, that is, all corner points on the obstacle are less than or equal to the second threshold and greater than or equal to the third threshold, then the on-board terminal can determine that the obstacle occupies the road section to be detected, but the remaining space of the road section to be detected is sufficient for passage, and at this time, the on-board terminal can generate a second determination result.

[0106] S506: If there is at least one corner point on the obstacle whose lateral offset value is greater than the second threshold or less than the third threshold, generate a first determination result.

[0107] In this embodiment, if the vehicle-mounted terminal determines that there is at least one corner point on the obstacle whose lateral offset value is greater than the second threshold or less than the third threshold, the vehicle-mounted terminal can generate a first determination result.

[0108] The method provided in this embodiment not only determines the passability of the road section based on the obstacle detection points, but also considers whether the corner points are on both sides of the centerline. Therefore, the method provided in this embodiment enables the vehicle terminal to effectively handle obstacles of various positions and shapes, thereby improving the accuracy of the vehicle terminal's passability determination.

[0109] Figure 7 FIG. 1 shows a flow chart of feasibility determination provided by an embodiment of the present application. Figure 7 As shown, after determining that there is an obstacle on the road section to be detected, the on-board terminal can construct a Frenet coordinate system based on multiple third coordinates that can represent the center line of the road section to be detected. Then, the on-board terminal can calculate the coordinates of each corner point on the obstacle in the Frenet coordinate system, that is, obtain the lateral offset value and longitudinal offset value of each corner point. Furthermore, the on-board terminal can also set multiple sampling lines on the road section to be detected and obtain the intersection between each sampling line and the boundary of the obstacle. The on-board terminal can calculate the coordinates of the intersection between the sampling line and the boundary of the obstacle in the Frenet coordinate system, that is, obtain the lateral offset value and longitudinal offset value of each intersection. In addition, the on-board terminal can also determine whether the obstacle crosses the road section to be detected based on whether the corner points of the obstacle are located on both sides of the center line. The on-board terminal can perform passability judgment on the road section to be detected in the above three ways in turn and generate a passability judgment result.

[0110] It should be noted that the size of the serial number of each step in the above embodiments does not mean the order of execution, and the execution order of each process should be determined according to its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0111] Referring to Figure 8 , a schematic diagram of a road section passability judgment device provided by an embodiment of the present application is shown, which can specifically include a coordinate acquisition module 801, an offset value determination module 802, and a judgment module 803, wherein:

[0112] The coordinate acquisition module 801 is configured to acquire road section information of a to-be-detected road section and a first coordinate of at least one detection point on an obstacle; the obstacle is located on the to-be-detected road section; the road section information includes a second coordinate of a starting point of the to-be-detected road section and a plurality of third coordinates for determining a center line of the to-be-detected road section;

[0113] The offset value determination module 802 is configured to determine a longitudinal offset value and a transverse offset value of the detection point in the to-be-detected road section according to the second coordinate, the third coordinate, and the first coordinate; the longitudinal offset value is used to represent the offset value between the detection point and the starting point in the direction of the center line; and the transverse offset value is used to represent the perpendicular distance between the detection point and the center line;

[0114] The judgment module 803 is configured to generate a passability judgment result corresponding to the to-be-detected road section based on the longitudinal offset value and the transverse offset value corresponding to the at least one detection point.

[0115] The judgment module 803 can also be configured to determine the positional relationship between any detection point and the center line if the longitudinal offset value and the transverse offset value of the any detection point meet a preset condition; calculate the remaining distance between the any detection point and the boundary of the to-be-detected road section according to the positional relationship, the width of the to-be-detected road section, and the transverse offset value; and generate a first judgment result if the remaining distance of the any detection point is less than or equal to a preset first threshold value; the first judgment result is used to represent that the to-be-detected road section is impassable.

[0116] The judgment module 803 can also be configured to acquire the positional relationship between any detection point and the center line if the longitudinal offset value of the any detection point is located in a first range and the transverse offset value is located in a second range; and the second range is determined according to the width of the to-be-detected road section.

[0117] The determination module 803 can be further configured to: if any of the detection points is located on the left side of the center line, calculate a remaining distance between the any of the detection points and a left boundary of the road segment to be detected according to the width of the road segment to be detected and the lateral offset value; and if any of the detection points is located on the right side of the center line, calculate a remaining distance between the any of the detection points and a right boundary of the road segment to be detected according to the width of the road segment to be detected and the lateral offset value.

[0118] The determination module 803 can be further configured to: if the longitudinal offset value and / or the lateral offset value of all the detection points do not satisfy the preset condition, or the remaining distance of the detection points satisfying the preset condition is greater than the first threshold value, determine whether any two of the corner points on the obstacle are located on two sides of the center line; if the obstacle has two corner points located on two sides of the center line, determine whether at least one of the corner points has a lateral offset value greater than a second threshold value or less than a third threshold value; and if at least one of the corner points has a lateral offset value greater than the second threshold value or less than the third threshold value, generate the first determination result.

[0119] The coordinate acquisition module 801 can be further configured to: determine at least one sampling line perpendicular to the center line on the road segment to be detected according to a preset sampling interval; and acquire a first coordinate of the corner point, a first coordinate of an intersection point between a boundary of the obstacle and the sampling line, and road segment information of the road segment to be detected.

[0120] The offset value determination module 802 can be further configured to: determine a projection coordinate of the detection point on the center line according to the plurality of third coordinates; determine a longitudinal offset value of the detection point in the road segment to be detected according to a distance value between the projection coordinate and the second coordinate; and determine a lateral offset value of the detection point in the road segment to be detected according to a distance value between the projection coordinate and the first coordinate.

[0121] For the device embodiment, it is basically similar to the method embodiment, and therefore is described more simply, and the related parts refer to the description in the method embodiment.

[0122] With reference to Figure 9 , a schematic diagram of an electronic device is shown. As shown in Figure 9 , the electronic device 900 in the embodiment of the present application includes a processor 910, a memory 920, and a computer program 921 stored in the memory 920 and executable on the processor 910. The processor 910 implements the steps in each embodiment of the method for determining road segment passability when executing the computer program 921, for example Figure 1The processor 910 implements the functions of the above-mentioned various modules / units in the apparatus embodiment by executing the computer program 921. For example, the processor 910 implements the functions of the above-mentioned steps S101-S103 by executing the computer program 921. Figure 8 The processor 910 implements the functions of the above-mentioned various modules / units in the apparatus embodiment by executing the computer program 921. For example, the processor 910 implements the functions of the above-mentioned steps S101-S103 by executing the computer program 921.

[0123] For example, the computer program 921 can be segmented into one or more modules / units, which are stored in the memory 920 and executed by the processor 910 to complete the present application. The one or more modules / units can be a series of computer program instruction segments capable of completing a specific function, which can be used to describe the execution process of the computer program 921 in the electronic device 900. For example, the computer program 921 can be segmented into a coordinate acquisition module, an offset value determination module, and a judgment module, and the specific functions of each module are as follows:

[0124] The coordinate acquisition module is configured to acquire road segment information of a to-be-detected road segment and a first coordinate of at least one detection point on an obstacle; the obstacle is located on the to-be-detected road segment; the road segment information includes a second coordinate of a starting point of the to-be-detected road segment and a plurality of third coordinates used to determine a center line of the to-be-detected road segment;

[0125] The offset value determination module is configured to determine a longitudinal offset value and a transverse offset value of the detection point in the to-be-detected road segment according to the second coordinate, the third coordinate, and the first coordinate; the longitudinal offset value is used to represent an offset value between the detection point and the starting point in the direction of the center line; and the transverse offset value is used to represent a perpendicular distance between the detection point and the center line;

[0126] The judgment module is configured to generate a passing judgment result corresponding to the to-be-detected road segment based on the longitudinal offset value and the transverse offset value corresponding to the at least one detection point.

[0127] The electronic device 900 can include, but is not limited to, the processor 910 and the memory 920. Those skilled in the art can understand that the functions of the electronic device 900 are implemented by the processor 910 by executing the computer program 921 stored in the memory 920. Figure 9 The electronic device 900 is only an example, and does not constitute a limitation on the electronic device 900, which can include more or fewer components than those shown, or combine certain components, or different components, for example, the electronic device 900 can also include an input / output device, a network access device, a bus, etc.

[0128] The processor 910 can be a central processing unit (CPU), and can also be other general-purpose processors, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0129] The memory 920 can be an internal storage unit of the electronic device 900, such as a hard disk or a memory of the electronic device 900. The memory 920 can also be an external storage device of the electronic device 900, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. Further, the memory 920 can include both an internal storage unit and an external storage device of the electronic device 900. The memory 920 is used to store the computer program 921 and other programs and data required by the electronic device 900. The memory 920 can also be used to temporarily store data that has been output or will be output.

[0130] The embodiments of the present application also disclose an electronic device, which comprises a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor implements the method for judging road segment passability according to any one of the preceding embodiments when executing the computer program.

[0131] The embodiments of the present application also disclose a computer readable storage medium, which stores a computer program, and the computer program is executable on a processor to implement the method for judging road segment passability according to any one of the preceding embodiments.

[0132] The embodiments of the present application also disclose a computer program product, which, when running on a computer, enables the computer to execute the method for judging road segment passability according to any one of the preceding embodiments.

[0133] The above-described embodiments are merely used to illustrate the technical solutions of the present application, but not to limit the same. Although the present application is described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that the technical solutions recorded in the foregoing embodiments can be modified, or some of the technical features can be replaced equivalently, and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A method for judging the trafficability of a road section, characterized in that: include: Obtaining the road section information of the road section to be detected and the first coordinates of at least one detection point on the obstacle; The obstacle is located on the road section to be detected; The road section information includes a second coordinate of a starting point of the road section to be detected and a plurality of third coordinates for determining a center line of the road section to be detected; Determining a longitudinal offset value and a lateral offset value of the detection point in the road section to be detected based on the second coordinate, the third coordinate, and the first coordinate; the longitudinal offset value is used to represent an offset value between the detection point and the starting point in the direction of the center line; The lateral offset value is used to represent the vertical distance between the detection point and the center line; Based on the longitudinal offset value and the lateral offset value corresponding to the at least one detection point, a trafficability determination result corresponding to the road section to be detected is generated.

2. The method according to claim 1, characterized in that The generating, based on the longitudinal offset value and the lateral offset value corresponding to the at least one detection point, a trafficability determination result corresponding to the road section to be detected, includes: If the longitudinal offset value and the lateral offset value of any detection point meet a preset condition, determining the orientation relationship between the any detection point and the center line; Calculating a remaining distance between any detection point and a boundary of the road section to be detected based on the orientation relationship, the width of the road section to be detected, and the lateral offset value; If the remaining distance of any detection point is less than or equal to a preset first threshold, a first determination result is generated; the first determination result is used to indicate that the road section to be detected is impassable.

3. The method according to claim 2, characterized in that If the longitudinal offset value and the lateral offset value of any detection point meet a preset condition, determining the orientation relationship between the any detection point and the center line includes: If the longitudinal offset value of any detection point is within the first range and the lateral offset value is within the second range, the azimuth relationship between the any detection point and the center line is obtained; the second range is determined according to the width of the road section to be detected.

4. The method according to claim 2, characterized in that The calculating, based on the orientation relationship, the width of the road section to be detected, and the lateral offset value, of the remaining distance between any detection point and the boundary of the road section to be detected includes: If any of the detection points is located on the left side of the center line, calculating the remaining distance between any of the detection points and the left boundary of the road section to be detected according to the width of the road section to be detected and the lateral offset value; If any of the detection points is located on the right side of the center line, the remaining distance between any of the detection points and the right side boundary of the road section to be detected is calculated according to the width of the road section to be detected and the lateral offset value.

5. The method according to claim 2, characterized in that The detection points include corner points of obstacles; The generating, based on the longitudinal offset value and the lateral offset value corresponding to the at least one detection point, a drivability determination result corresponding to the road section to be detected further includes: If the longitudinal offset values ​​and / or the lateral offset values ​​of all the detection points do not satisfy the preset condition, or if the remaining distances of the detection points that satisfy the preset condition are all greater than the first threshold, determining whether any two corner points among all the corner points on the obstacle are located on both sides of the center line; If the obstacle has two corner points located on both sides of the center line, determining whether the lateral offset value of at least one corner point among all corner points on the obstacle is greater than a second threshold or less than a third threshold; If the lateral offset value of at least one corner point on the obstacle is greater than the second threshold or less than the third threshold, the first determination result is generated.

6. The method according to any one of claims 1 to 5, characterized in that The detection point includes the intersection between the boundary of the obstacle and the sampling line on the road section to be detected; The obtaining of the road section information of the road section to be detected and the first coordinates of at least one detection point on the obstacle includes: Determining at least one sampling line perpendicular to the center line on the road section to be detected according to a preset sampling interval; The first coordinates of the corner point, the first coordinates of the intersection point between the boundary of the obstacle and the sampling line, and the section information of the road section to be detected are obtained.

7. The method according to any one of claims 1 to 5, characterized in that The determining of the longitudinal offset value and the lateral offset value of the detection point in the road section to be detected based on the second coordinate, the third coordinate and the first coordinate includes: determining the projection coordinates of the detection point on the center line according to the plurality of third coordinates; determining a longitudinal offset value of the detection point in the road section to be detected according to a distance value between the projection coordinate and the second coordinate; The lateral offset value of the detection point in the road section to be detected is determined according to the distance value between the projection coordinate and the first coordinate.

8. A device for judging the passability of a road section, characterized in that: include: A coordinate acquisition module, configured to acquire the road section information of the road section to be detected and the first coordinates of at least one detection point on the obstacle; The obstacle is located on the road section to be detected; The road section information includes a second coordinate of a starting point of the road section to be detected and a plurality of third coordinates for determining a center line of the road section to be detected; an offset value determination module, configured to determine a longitudinal offset value and a lateral offset value of the detection point in the road section to be detected based on the second coordinate, the third coordinate, and the first coordinate; the longitudinal offset value being used to represent an offset value between the detection point and the starting point in the direction of the centerline; The lateral offset value is used to represent the vertical distance between the detection point and the center line; The judgment module is used to generate a trafficability judgment result corresponding to the road section to be detected based on the longitudinal offset value and the lateral offset value corresponding to the at least one detection point.

9. An electronic device, characterized in that: The electronic device comprises a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the electronic device implements the method for determining the passability of a road section as described in any one of claims 1 to 7.

10. A computer program product, characterized in that The method comprises a computer program, which, when executed, enables the method for determining the passability of a road section according to any one of claims 1 to 7 to be executed.

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