A vehicle driving data processing method, system, storage medium and electronic device

Abstract

The application relates to the field of automobile technology, in particular to a vehicle driving data processing method and system, a storage medium and an electronic device, a distance sensor is arranged on a vehicle; the method comprises the following steps: acquiring current position information of the vehicle and target scene information corresponding to the current position information when a preset working condition occurs; determining an effective detection range corresponding to the target scene information based on a mapping relationship between pre-stored scene information and the effective detection range of the distance sensor; acquiring driving data of the vehicle in an actual detection range based on the distance sensor; and screening the driving data according to the effective detection range to obtain target driving data corresponding to the effective detection range; the application reduces the data processing amount of the vehicle when judging road condition information, can avoid the influence of invalid driving data on automatic driving of the vehicle, and can also avoid increasing the false detection rate of the road condition information by processing invalid driving data; the vehicle can also improve the safety and stability of automatic driving by processing the target driving data.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automobiles, in particular to a vehicle driving data processing method and system, a storage medium and an electronic device. BACKGROUND

[0002] With the continuous development of economy and society, the number of autonomous vehicles is increasing, and some social problems caused by the increase in the number of autonomous vehicles are increasingly prominent. The loss of personnel and property caused by traffic accidents is becoming more and more serious in society. Among them, the collision of vehicles is mainly involved in traffic accidents.

[0003] The existing autonomous driving is highly sought after by the industry. With the increase in the number of autonomous vehicles, due to the low accuracy of sensors, the application of autonomous driving has brought losses to people's life safety and property, and has also brought some negative effects to the industry. In order to solve the problem of low sensor accuracy and improve the accuracy of vehicle perception, vehicle sensor technology has gradually developed from single sensor to multi-sensor and multi-sensor fusion. The perception of a single sensor will be affected by many factors such as surrounding environment weather, illumination, road type, road setting and ground marking, and there will be more false detections in complex scenes, especially for some special scenes such as tunnels or underground garages. Using a multi-sensor solution means that a large amount of sensor data and more redundant data need to be processed in real time, which requires higher bus bandwidth and higher performance chips, which greatly increases the difficulty and cost of developing autonomous driving technology.

[0004] Based on the shortcomings of the prior art, it is urgent to develop a solution to solve the above problems. SUMMARY

[0005] In order to solve the above technical problems, the present application provides a vehicle driving data processing method, system, storage medium and electronic device. Based on the mapping relationship between the pre-stored scene information and the effective detection range of the distance sensor, the effective detection range corresponding to the target scene information is determined, and the driving data of the vehicle in the actual detection range is obtained based on the distance sensor. And according to the effective detection range, the driving data is screened to obtain the target driving data corresponding to the effective detection range, thereby reducing the data processing amount of the vehicle when judging road condition information, avoiding the influence of invalid driving data on the vehicle autonomous driving, and avoiding the increase in the false detection rate of road condition information caused by processing invalid driving data. The vehicle can also improve the safety and stability of autonomous driving by processing the target driving data.

[0006] The present application discloses a vehicle driving data processing method, a distance sensor is arranged on a vehicle, and the distance sensor is used to obtain driving data in front of the vehicle. The method comprises:

[0007] acquiring current position information of the vehicle and target scene information corresponding to the current position information when a preset working condition is met;

[0008] determining an effective detection range corresponding to the target scene information based on a mapping relationship between pre-stored scene information and the effective detection range of the distance sensor;

[0009] acquiring driving data of the vehicle within an actual detection range of the distance sensor;

[0010] screening the driving data according to the effective detection range to obtain target driving data corresponding to the effective detection range.

[0011] Further, the step of determining an effective detection range corresponding to each scene information based on a mapping relationship between pre-stored scene information and the effective detection range of the distance sensor comprises:

[0012] acquiring a detection point data set corresponding to each scene information;

[0013] determining an effective detection range corresponding to each scene information based on the detection point data set;

[0014] storing each scene information and the corresponding effective detection range in association.

[0015] Further, the step of acquiring a detection point data set corresponding to each scene information comprises:

[0016] constructing a reference coordinate system; wherein the origin of the reference coordinate is the center position of the signal detection area of the distance sensor, and the X-axis of the reference coordinate system is the driving direction of the vehicle, and the Y-axis is the width direction of the vehicle;

[0017] acquiring an actual detection range detected by the distance sensor;

[0018] determining position information of target detection points corresponding to the scene information based on the scene information, the actual detection range and the reference coordinate system; wherein the target detection points are at least three;

[0019] generating a corresponding detection point data set based on the position information of the target detection points corresponding to each scene information.

[0020] Further, the actual detection range is determined in the following manner:

[0021] acquiring field of view angle and detection distance information of the distance sensor;

[0022] determining the actual detection range of the distance sensor based on the field of view angle of the distance sensor and the detection distance information.

[0023] Further, the step of screening the driving data according to the effective detection range to obtain the target driving data corresponding to the effective detection range comprises:

[0024] determining invalid driving data outside the effective detection range from the driving data according to the actual detection range and the effective detection range;

[0025] removing the invalid driving data from the driving data to obtain the target driving data.

[0026] Further, the step of obtaining the current position information of the vehicle and the target scene information corresponding to the current position information when the preset working condition is met comprises:

[0027] obtaining the running state information of the vehicle;

[0028] determining whether the vehicle is in a running state according to the running state information;

[0029] if the vehicle is in the running state, determining that the vehicle is in the preset working condition.

[0030] Further, the step of obtaining the target driving data corresponding to the effective detection range further comprises:

[0031] determining whether there is an obstacle in the effective detection range according to the target driving data;

[0032] if there is an obstacle in the detection range, displaying collision warning information;

[0033] wherein the collision warning information is text, voice or picture information.

[0034] Another aspect of the present application protects a vehicle driving data processing system for implementing the vehicle driving data processing method as described above, and the system comprises:

[0035] an acquisition module for obtaining the current position information of the vehicle and the target scene information corresponding to the current position information when the preset working condition is met;

[0036] a first execution module for determining the effective detection range corresponding to the target scene information based on the mapping relationship between the pre-stored scene information and the effective detection range of the distance sensor;

[0037] a second execution module for obtaining the driving data of the vehicle in the actual detection range based on the distance sensor; screening the driving data according to the effective detection range to obtain the target driving data corresponding to the effective detection range.

[0038] Another aspect of the present application protects a storage medium, comprising a processor and a memory, wherein the memory stores at least one instruction or at least one program, the at least one instruction or the at least one program is loaded and executed by the processor to realize the vehicle driving data processing method as described above.

[0039] Another aspect of the present application protects an electronic device, comprising at least one processor, and a memory connected in communication with the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the at least one processor realizes the vehicle driving data processing method as described above by executing the instructions stored in the memory.

[0040] The embodiments of the present application have the following beneficial effects:

[0041] Based on the mapping relationship between the pre-stored scene information and the effective detection range of the distance sensor, the effective detection range corresponding to the target scene information is determined, and the driving data of the vehicle in the actual detection range is obtained based on the distance sensor; and the driving data is filtered according to the effective detection range to obtain the target driving data corresponding to the effective detection range, thereby reducing the data processing amount of the vehicle when judging the road condition information, avoiding the influence of invalid driving data on the automatic driving of the vehicle, and avoiding the increase of the false detection rate of the road condition information caused by processing invalid driving data; the vehicle can also improve the safety and stability of automatic driving by processing only the target driving data. BRIEF DESCRIPTION OF DRAWINGS

[0042] In order to more clearly illustrate the technical solutions of the present application, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and those skilled in the art can obtain other drawings according to these drawings without creative labor.

[0043] Figure 1 The flow chart of the vehicle driving data processing method described in the present embodiment;

[0044] Figure 2 The structure diagram of the vehicle driving data processing system described in the present embodiment;

[0045] Figure 3 The schematic diagram of the effective detection range when both sides of the vehicle are lanes;

[0046] Figure 4 The coordinate diagram of the effective detection range when both sides of the vehicle are lanes;

[0047] Figure 5 The schematic diagram of the effective detection range when one side of the vehicle is a lane and the other side is an urban green belt.

[0048] In the figure, the reference signs correspond to:

[0049] 1-acquisition module; 2-first execution module; 3-second execution module. DETAILED DESCRIPTION

[0050] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0051] It should be noted that the terms "first", "second" and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily have to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0052] The prior art has the following disadvantages: the existing automatic driving is highly sought after by the industry; as the number of automatic driving vehicles increases, due to the low accuracy of sensors, the application of automatic driving brings losses to the safety of people's lives and property, and also brings some negative effects to the industry; in order to solve the problem of low sensor accuracy and improve the accuracy of vehicle perception, vehicle sensor technology has gradually developed from single sensor to multi-sensor and multi-sensor fusion mode; the perception of a single sensor will be affected by many factors such as surrounding environment weather, light, road type, road setting and ground marking, and there will be more false detections in complex scenes, especially for some special scenes such as tunnels or underground garages. Using a multi-sensor solution means that a large amount of sensor data and more redundant data need to be processed in real time, which requires higher bus bandwidth and higher performance chips, which greatly increases the difficulty and cost of developing automatic driving technology.

[0053] In view of the defects of the prior art, the present application determines the effective detection range corresponding to the target scene information based on the mapping relationship between the pre-stored scene information and the effective detection range of the distance sensor, and then acquires the driving data of the vehicle within the actual detection range based on the distance sensor; and the driving data is filtered according to the effective detection range to obtain the target driving data corresponding to the effective detection range, thereby reducing the data processing amount of the vehicle when judging the road condition information, avoiding the influence of invalid driving data on the automatic driving of the vehicle, and avoiding the increase of the false detection rate of the road condition information caused by processing invalid driving data; the vehicle can also improve the safety and stability of automatic driving by processing only the target driving data.

[0054] Embodiment 1

[0055] Referring to the accompanying drawings Figures 1-5 The present embodiment provides a vehicle driving data processing method, a distance sensor is arranged on a vehicle, and the distance sensor is used to acquire driving data in front of the vehicle; the method comprises the following steps:

[0056] When a preset working condition is met, current position information of the vehicle and target scene information corresponding to the current position information are acquired;

[0057] Based on a mapping relationship between pre-stored scene information and an effective detection range of the distance sensor, an effective detection range corresponding to the target scene information is determined;

[0058] Based on the distance sensor, driving data of the vehicle within an actual detection range is acquired;

[0059] The driving data is filtered according to the effective detection range to obtain target driving data corresponding to the effective detection range.

[0060] It should be noted that: in the prior art, there are single sensor and multi-sensor to obtain data; the perception of the single sensor is affected by the surrounding environment, such as weather, light, road type, road setting and ground marking and many other factors, and more false detections will occur in complex scenes, especially for some special scenes such as tunnels or underground garages; and the multi-sensor scheme will greatly increase the difficulty and cost of developing autonomous driving technology, which means that a large amount of sensor data and more redundant data need to be processed in real time, which requires higher bus bandwidth and higher performance chips, which obviously increases the production cost; in order to solve the above problems, the embodiment determines the effective detection range corresponding to the target scene information based on the mapping relationship between the pre-stored scene information and the effective detection range of the distance sensor, and then obtains the driving data of the vehicle within the actual detection range based on the distance sensor; and according to the effective detection range, the driving data is filtered to obtain the target driving data corresponding to the effective detection range, thereby reducing the data processing amount of the vehicle when judging the road condition information, which can avoid the influence of invalid driving data on the vehicle autonomous driving, and also avoid increasing the false detection rate of the road condition information by processing invalid driving data; the vehicle can also improve the safety and stability of autonomous driving by processing the target driving data.

[0061] It should also be noted that: the embodiment also reduces the number of sensors to avoid more redundant data caused by using multiple sensors, which also reduces the production cost to some extent.

[0062] In some possible embodiments, the step of determining the effective detection range corresponding to each scene information based on the mapping relationship between the pre-stored scene information and the effective detection range of the distance sensor comprises:

[0063] Obtaining a detection point data set corresponding to each scene information;

[0064] According to the detection point data set, determining the effective detection range corresponding to each scene information respectively;

[0065] Respectively, each scene information and the corresponding effective detection range are associated and stored.

[0066] In other possible embodiments, the current position information of the vehicle is mainly obtained through the positioning system and the map data, which can accurately determine the current position information of the vehicle, and then accurately determine the effective detection range corresponding to the current position information of the vehicle, which can effectively reduce the data processing amount of the vehicle, and then improve the safety and stability of autonomous driving.

[0067] In some possible embodiments, the step of obtaining a detection point data set corresponding to each scene information comprises:

[0068] A reference coordinate system is constructed, wherein the origin of the reference coordinate is the center position of the signal detection area of the distance sensor, and the X-axis of the reference coordinate system is the driving direction of the vehicle, and the Y-axis is the width direction of the vehicle.

[0069] An actual detection range detected by the distance sensor is acquired.

[0070] According to the scene information, the actual detection range, and the reference coordinate system, the position information of the target detection points corresponding to the scene information is determined, wherein the target detection points are at least three.

[0071] Based on the position information of the target detection points corresponding to each scene respectively, a corresponding detection point data set is generated, and different detection point data corresponding to different scenes are set in advance, which can avoid the vehicle from quickly acquiring the effective detection range during operation, and thus improve the response speed and the experience of the driver and passengers.

[0072] In some possible embodiments, referring to the accompanying drawings, Figure 3 The vehicle drives on a road with at least three lanes, and the vehicle is in one of the lanes. The distance sensor is a millimeter wave radar, the millimeter wave radar is arranged on the front bumper of the vehicle, and the actual detection range of the millimeter wave radar is a fan-shaped area. It is assumed Figure 3 In a city road scene, in actual driving, the driver mainly focuses on the area in front of the lane (possible rear-end risk), the lanes on the left and right sides of the lane (possible lane-changing risk of other vehicles), and the area where the city green belt is located. The data in the area of the city green belt is invalid driving data, because no other vehicle changes lanes from the green belt to the lane where the vehicle is located, and thus the data in the area of the green belt acquired by the millimeter wave radar can be ignored. Therefore, when the vehicle is in the city road scene and the vehicle is in the middle lane, a reference coordinate system is constructed with the center position of the signal detection area of the millimeter wave radar as the origin, and the hatched area is the effective detection range of the millimeter wave radar. This can limit the focus detection target of the millimeter wave radar within the effective detection range, and the targets outside the effective detection range that do not threaten the driving of the vehicle can be filtered out, thereby reducing the amount of invalid target data and the false detection possibly caused by the invalid targets, and improving the safety and stability of automatic driving.

[0073] Referring to Figure 4 When the vehicle is on a road with at least three lanes, a plurality of points (x0, y0), (x1, y1), …, (xn, yn) are selected in the actual detection area of the millimeter wave radar. In this embodiment, five points (x0, y0), (x1, y1), (x2, y2), (x3, y3), and (x4, y4) are used to determine the effective detection range of the millimeter wave radar.

[0074] Specifically, the effective detection range is determined according to the actual running road scene of the vehicle, the driving behavior of the driver and passenger, the vehicle peripheral environment, road facilities and other moving obstacles and other factors, and the mapping relationship between the pre-stored scene information and the effective detection range of the distance sensor is determined to determine the effective detection range corresponding to the target scene information. More specifically, the effective detection range under a plurality of typical scenes of vehicle driving is defined in advance, and the coding is bound to the scene or positioning, and then the scene or positioning is associated with the effective detection range under the corresponding scene or positioning, so as to achieve the purpose of determining the effective detection range through the scene or positioning, and further improve the safety and stability of automatic driving of the vehicle through processing of the target driving data.

[0075] Specifically, in the present embodiment, up to 8 detection points are provided; the number of detection points is set according to actual needs, and more detection points can also be supported, which is not limited here.

[0076] In other possible embodiments, referring to Figure 5 , the vehicle is in a lane, the side adjacent to the lane where the vehicle is located is the adjacent lane, and the other side is the urban green belt, and the data of the area where the urban green belt is located does not need to be concerned, that is, the area where the green belt is located is invalid driving data, and the data of the area where the green belt is located obtained by the millimeter wave radar can not be concerned; at this time, the center position of the signal detection of the millimeter wave radar is taken as the origin of the workpiece reference coordinate system, and the dashed area is the effective detection range of the millimeter wave radar, which can limit the key detection target of the millimeter wave radar within the effective detection range, and the targets that do not threaten the vehicle driving within the effective detection range can be filtered out, thereby reducing the amount of invalid target data and the false detection caused by the invalid target data, and further improving the safety and stability of automatic driving.

[0077] Specifically, the vehicle in different lanes has different effective detection ranges, which effectively avoids the increase of data processing amount caused by processing invalid driving data, avoids the influence of invalid driving data on the automatic driving of the vehicle, and also avoids the increase of the false detection rate of road condition information caused by processing invalid driving data.

[0078] In some possible embodiments, the actual detection range is determined in the following manner:

[0079] Obtaining the field of view angle and detection distance information of the distance sensor;

[0080] Determining the actual detection range of the distance sensor according to the field of view angle and detection distance information of the distance sensor.

[0081] In some possible embodiments, the step of screening the driving data according to the effective detection range to obtain the target driving data corresponding to the effective detection range comprises:

[0082] determining invalid driving data outside the effective detection range from the driving data according to the actual detection range and the effective detection range;

[0083] removing the invalid driving data from the driving data to obtain target driving data.

[0084] In some possible embodiments, determining invalid driving data outside the effective detection range from the driving data according to the actual detection range and the effective detection range comprises:

[0085] determining an invalid detection range according to the actual detection range and the effective detection range, wherein the effective detection range and the invalid detection range constitute the actual detection range of the distance sensor;

[0086] determining data in the invalid detection range and defining the data in the invalid detection range as the invalid driving data;

[0087] removing the invalid driving data from the driving data to obtain target driving data, which can avoid the influence of the invalid driving data on the automatic driving of the vehicle, and further improve the safety and stability of the automatic driving.

[0088] In some possible embodiments, before the step of obtaining the current position information of the vehicle and the target scene information corresponding to the current position information in the preset working condition, the method further comprises:

[0089] obtaining running state information of the vehicle;

[0090] judging whether the vehicle is in a running state according to the running state information;

[0091] if the vehicle is in the running state, determining that the vehicle is in the preset working condition.

[0092] In some possible embodiments, the running state information comprises a driving speed of the vehicle, and judging whether the vehicle is in the running state according to the running state information comprises:

[0093] judging whether the vehicle is in the running state according to the driving speed;

[0094] if the driving speed is greater than zero, determining that the vehicle is in the running state, and determining that the vehicle is in the preset working condition;

[0095] if the driving speed is zero, determining that the vehicle is in a non-running state, and the vehicle is in a non-pre-set working condition; the target driving data is obtained only when the vehicle is in the preset working condition, so as to avoid the increase of the amount of data processed by the vehicle controller when the vehicle is stopped, and to avoid the influence of the speed of vehicle data processing and the safety of automatic driving.

[0096] In some possible embodiments, the step of obtaining the target driving data corresponding to the effective detection range further comprises:

[0097] According to the target driving data, it is determined whether there is an obstacle in the effective detection range.

[0098] If there is an obstacle in the detection range, collision warning information is displayed.

[0099] The collision warning information is text, voice or picture information, and through the display of the collision warning information, the driver and passenger can be effectively prompted to avoid collision of the vehicle, thereby improving the safety of vehicle driving.

[0100] In some other possible embodiments, the step of obtaining the target driving data corresponding to the effective detection range further comprises:

[0101] In a preset working condition, the target driving data is obtained in real time.

[0102] According to the target driving data, it is determined whether there is an obstacle in the effective detection range.

[0103] If there is an obstacle in the detection range, collision warning information is displayed, and the vehicle is controlled to stop.

[0104] If there is an obstacle in the detection range, the step of determining whether there is an obstacle in the effective detection range according to the target driving data is re-executed to ensure the driving safety of the vehicle when driving.

[0105] Another aspect of the present application protects a vehicle driving data processing system for implementing the above vehicle driving data processing method, and the system comprises:

[0106] The acquisition module 1 is configured to obtain the current position information of the vehicle and the target scene information corresponding to the current position information in a preset working condition.

[0107] The first execution module 2 is configured to determine the effective detection range corresponding to the target scene information based on the mapping relationship between the pre-stored scene information and the effective detection range of the distance sensor.

[0108] The second execution module 3 is configured to obtain the driving data of the vehicle in the actual detection range based on the distance sensor, and filter the driving data based on the effective detection range to obtain the target driving data corresponding to the effective detection range.

[0109] In some other possible embodiments, the system further comprises:

[0110] The third execution module is configured to obtain the detection point data set corresponding to each scene information, and determine the effective detection range corresponding to each scene information based on the detection point data set.

[0111] a storage module configured to store the respective scene information and the corresponding effective detection range.

[0112] a construction module configured to construct a reference coordinate system, wherein an origin of the reference coordinate is a center position of a signal detection area of the distance sensor, and an X axis of the reference coordinate system is a driving direction of the vehicle, and a Y axis is a width direction of the vehicle.

[0113] a first determination module configured to determine position information of a target detection point corresponding to the scene information according to the scene information, the actual detection range and the reference coordinate system, and generate a corresponding detection point data set based on the position information of the respective target detection points corresponding to the respective scenes.

[0114] a second determination module configured to determine the actual detection range of the distance sensor according to a field of view angle of the distance sensor and the detection distance information.

[0115] a fourth execution module configured to determine invalid driving data outside the effective detection range from the driving data according to the actual detection range and the effective detection range, and remove the invalid driving data from the driving data to obtain the target driving data.

[0116] a working condition determination module configured to obtain running state information of the vehicle, determine whether the vehicle is in a running state according to the running state information, and determine that the vehicle is in a preset working condition if the vehicle is in the running state.

[0117] a warning module configured to determine whether there is an obstacle in the effective detection range according to the target driving data, and display collision warning information if there is an obstacle in the detection range.

[0118] In another aspect, the application protects a storage medium, which comprises a processor and a memory, and the memory stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded and executed by the processor to realize the vehicle driving data processing method as above.

[0119] The computer program product can include a storage medium on which computer readable program instructions are loaded to enable the processor to implement various aspects of the application.

[0120] Storage media can be any available media that can be accessed by a computing device. By way of example, and not limitation, such computer-readable media can comprise RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other storage medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computing device. Also, any connection is properly termed a computer-readable medium. For example, if the software is transmitted from a website, server, or other remote source using a coaxial cable, fiber optic cable, or twisted pair, then the coaxial cable, fiber optic cable, or twisted pair are included in the definition of medium. Disk and disc, as used herein, includes compact disc (CD), laser disc, optical disc, digital versatile disc (DVD), and Blu-Ray® disc where disks usually reproduce data magnetically, while discs reproduce data optically with lasers. Combinations of the above should also be included within the scope of computer-readable media.

[0121] In other embodiments, the computing device 100 includes one or more other devices such as a server, a client, a network appliance, a network router, a network switch, a network bridge, or other network device. The computing device 100 can also include one or more other devices such as a personal computer (PC), a laptop computer, a handheld computer, a workstation, a network appliance, a web appliance, a server, a client, a peer-to-peer device, or other network node. The computing device 100 can also include one or more other devices such as a printer, a scanner, a desktop computer, a laptop computer, a tablet computer, a handheld computer, a personal digital assistant, a cellular telephone, a smart phone, a web appliance, a network appliance, a server, a client, a peer-to-peer device, or other network node.

[0122] Computer readable program instructions for carrying out operations of the present application can be assembly instructions, instruction-set-architecture (ISA) instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, state-setting data, or source code or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C++ or the like, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer readable program instructions can execute entirely on a user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider). In some embodiments, electronic circuitry including, for example, programmable logic circuitry, field-programmable gate array (FPGA), or programmable logic array (PLA) can execute the computer readable program instructions by utilizing state information of the computer readable program instructions to personalize the electronic circuitry, in order to perform aspects of the present application.

[0123] These computer readable program instructions can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks. These computer readable program instructions can also be stored in a computer readable storage medium that can include a non-transitory computer readable medium that can be a computer program product, to produce a computer implemented process such the computer readable storage medium having instructions stored therein for producing an article of manufacture.

[0124] The computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other device to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0125] Another aspect of the present application protects an electronic device, comprising at least one processor, and a memory connected with the at least one processor in communication; wherein the memory stores instructions executable by the at least one processor, and the at least one processor implements the vehicle driving data processing method of any one of the above by executing the instructions stored in the memory.

[0126] The above-described embodiments of the application have several aspects, no single one of which is solely responsible for the application's desirable attributes. Without intending to limit the scope of the application, several of the novel aspects are described in the following paragraphs of this section.

[0127] The above-described embodiments and features of the embodiments can be combined with each other without conflict.

[0128] The above-described embodiments of the application have several aspects, no single one of which is solely responsible for the application's desirable attributes. Without intending to limit the scope of the application, several of the novel aspects are described in the following paragraphs of this section.

[0127] The above-described embodiments and features of the embodiments can be combined with each other without conflict.

[0128] The above-described embodiments of the application have several aspects, no single one of which is solely responsible for the application's desirable attributes. Without intending to limit the scope of the application, several of the novel aspects are described in the following paragraphs of this section.

Claims

1. A vehicle travel data processing method, a distance sensor is provided on a vehicle, the distance sensor is used to obtain travel data in front of the vehicle; characterized in that, The method comprises: acquiring current position information of the vehicle and target scene information corresponding to the current position information when a preset working condition occurs; acquiring a detection point data set corresponding to each scene information; determining an effective detection range corresponding to each of the scene information according to the detection point data set; wherein different effective detection ranges exist when the vehicle is in different lanes; storing the scene information and the corresponding effective detection range in association respectively; determining an effective detection range corresponding to the target scene information based on a mapping relationship between the pre-stored scene information and the effective detection range of the distance sensor; acquiring driving data of the vehicle within an actual detection range based on the distance sensor; determining invalid driving data outside the effective detection range from the driving data according to the actual detection range and the effective detection range; removing the invalid driving data from the driving data to obtain target driving data.

2. The vehicle travel data processing method according to claim 1, characterized by, The step of acquiring a detection point data set corresponding to each scene information comprises: constructing a reference coordinate system; wherein the origin of the reference coordinate is the center position of the signal detection area of the distance sensor, and the X-axis of the reference coordinate system is the driving direction of the vehicle, and the Y-axis is the width direction of the vehicle; acquiring an actual detection range detected by the distance sensor; determining position information of target detection points corresponding to the scene information according to the scene information, the actual detection range and the reference coordinate system; wherein the target detection points are at least three; generating a corresponding detection point data set based on the position information of the target detection points corresponding to each of the scenes respectively.

3. The vehicle travel data processing method according to claim 2, characterized by, The actual detection range is determined in the following manner: acquiring field of view angle and detection distance information of the distance sensor; determining the actual detection range of the distance sensor according to the field of view angle of the distance sensor and the detection distance information.

4. The vehicle travel data processing method according to claim 1, characterized by, The step of acquiring current position information of the vehicle and target scene information corresponding to the current position information when a preset working condition occurs comprises: acquiring running state information of the vehicle; determining whether the vehicle is in a running state according to the running state information; if the vehicle is in the running state, determining that the vehicle is in a preset working condition.

5. The vehicle travel data processing method according to claim 1, characterized by, The step of obtaining target driving data corresponding to the effective detection range further comprises: determining whether there is an obstacle in the effective detection range according to the target driving data; if there is an obstacle in the detection range, displaying collision warning information; wherein the collision warning information is text, voice or picture information.

6. A vehicle travel data processing system characterized by comprising: A system for implementing the vehicle driving data processing method according to any one of claims 1-5, the system comprising: an acquisition module for acquiring current position information of the vehicle and target scene information corresponding to the current position information when a preset working condition occurs; The first execution module is configured to acquire detection point data sets corresponding to each scene information; determine effective detection ranges corresponding to the each scene information respectively according to the detection point data sets; store the each scene information and the corresponding effective detection range respectively in association; and determine the effective detection range corresponding to the target scene information based on a pre-stored mapping relationship between the scene information and the effective detection range of the distance sensor. The second execution module is configured to acquire driving data of the vehicle in an actual detection range based on the distance sensor; determine invalid driving data outside the effective detection range from the driving data according to the actual detection range and the effective detection range; and remove the invalid driving data from the driving data to obtain the target driving data.

7. A storage medium, characterized by The storage medium comprises a processor and a memory, the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the vehicle driving data processing method according to any one of claims 1-5.

8. An electronic device, comprising: The storage medium comprises at least one processor, and a memory connected with the at least one processor in communication; wherein the memory stores instructions executable by the at least one processor, and the at least one processor implements the vehicle driving data processing method according to any one of claims 1-5 by executing the instructions stored in the memory.

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