A method for screening a target in a curved channel, an electronic device, and a storage medium

Abstract

Embodiments of the present application disclose a curved road target screening method, an electronic device and a storage medium. The method comprises: acquiring lane line information of a lane and position information of a surrounding target object when a vehicle travels on the curved road; determining future driving track information of the vehicle according to the lane line information; calculating a shortest distance from the target object to the driving track according to the position information of the target object and the driving track information; and judging whether the target object is in the lane according to the shortest distance from the target object to the driving track. The embodiments automatically judge whether the target object and the vehicle are in the same lane in a curved road scene.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the field of intelligent vehicles, and in particular to a method for screening targets on a curved road, an electronic device and a storage medium. BACKGROUND

[0002] Automatic braking and automatic following are common assisted driving functions in intelligent vehicles, and the implementation of these functions usually requires the host vehicle to identify the front target objects (such as target vehicles) in real time and screen out dangerous targets among them. For example, the AEB (Autonomous Emergency Braking) system and the ACC (Adaptive Cruise Control) in a vehicle achieve braking control and following control respectively by detecting dangerous targets in front.

[0003] In the prior art, only the longitudinal distance and lateral distance between a target object and the host vehicle are relied on to determine whether the target vehicle is a dangerous target. In Figure 1 In the curved road scenario shown in FIG. 1, a target object may be misjudged as a dangerous target by the ABE system and braked, or misjudged as a following target by the ACC system and controlled to follow. SUMMARY

[0004] Embodiments of the present application provide a method for screening targets on a curved road, an electronic device and a storage medium, which automatically determine whether a target object and the host vehicle are in the same lane in a curved road scenario.

[0005] In a first aspect, embodiments of the present application provide a method for screening targets on a curved road, comprising:

[0006] acquiring lane line information of a lane in which the host vehicle is driving and position information of a surrounding target object when the host vehicle is driving on a curved road;

[0007] determining future driving track information of the host vehicle according to the lane line information;

[0008] calculating a shortest distance from the target object to the driving track according to the position information of the target object and the driving track information;

[0009] judging whether the target object is in the lane according to the shortest distance from the target object to the driving track.

[0010] In a second aspect, embodiments of the present application also provide an electronic device, comprising:

[0011] a memory, a processor, and a computer program stored in the memory and executable by the processor, wherein the processor implements the method for screening targets on a curved road according to any of the embodiments when executing the computer program.

[0012] In a third aspect, the embodiments of the present application also provide a computer readable storage medium, which stores computer instructions for causing a computer to execute the lane target screening method according to any of the embodiments.

[0013] In the embodiments of the present application, the driving trajectory of the vehicle starting from any initial position is predicted according to the lane line information without limiting the vehicle to drive along the lane center line, and then the shortest distance of the target object to the driving trajectory is used to automatically determine the relationship between the target object and the lane of the vehicle, so as to provide the information of whether the target object and the vehicle are in the same lane for the decision layer of the vehicle, and avoid the wrong decisions such as AEB false touch or ACC false following. BRIEF DESCRIPTION OF DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort.

[0015] Figure 1 is a schematic diagram of a lane scene provided by the embodiments of the present application.

[0016] Figure 2 is a flowchart of a lane target screening method provided by the embodiments of the present application.

[0017] Figure 3 is a schematic diagram of the shortest distance of a target object to the future driving trajectory of the vehicle provided by the embodiments of the present application.

[0018] Figure 4 is a schematic diagram of a first position point and a second position point provided by the embodiments of the present application.

[0019] Figure 5 is a schematic diagram of the geometric relationship satisfied by a point on the driving trajectory provided by the embodiments of the present application.

[0020] Figure 6 is a structural schematic diagram of an electronic device provided by the embodiments of the present application. DETAILED DESCRIPTION

[0021] In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions of the present application will be described clearly and completely. 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 any creative effort are within the scope of protection of the present application.

[0022] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0023] In the description of the present invention, it should also be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0024] The embodiment of the present invention provides a method for screening targets on a curve. To facilitate the detailed description of the method, the application scenario of the method is first introduced. The method is applied in a curve scenario. Figure 1 Schematic diagram of a curve scene provided by an embodiment of the present invention. Figure 1 As shown in the figure, if the two are in the same lane, the target may be a dangerous target; if they are not in the same lane, the target is not a dangerous target. Therefore, when screening dangerous targets, it is necessary to determine whether the target and the vehicle are in the same lane to avoid erroneous control such as AEB false triggering or ACC false following.

[0025] based on Figure 1 The scene shown, Figure 2 This is a flow chart of a method for screening targets on a curve provided by an embodiment of the present invention. This method is applicable to the case where a target object and a vehicle are located in the same lane in a curve scene, and is executed by an electronic device. Figure 2 As shown, the method specifically includes:

[0026] S110 . When the vehicle is traveling on a curve, lane line information of the lane in which the vehicle is located and position information of surrounding targets are obtained.

[0027] When the vehicle is traveling on a curve, the camera or the camera combined with other sensors obtains the position information of surrounding objects and the lane line information of the lane the vehicle is in as input for subsequent steps. Optionally, the camera is a front-view camera for the vehicle.

[0028] Optionally, the position information of the target object comprises: a distance of the target object to the vehicle along a current driving direction of the vehicle, and a distance of the target object to the vehicle perpendicular to the current driving direction of the vehicle. For the convenience of understanding and description, the distance along the current driving direction of the vehicle is referred to as longitudinal distance, and the distance perpendicular to the current driving direction of the vehicle is referred to as lateral distance.

[0029] Optionally, the lane line is represented by a curve equation, and the information of any lane line comprises equation coefficients in the curve equation of the lane line, the equation coefficients comprising: a coefficient corresponding to a shortest distance of the lane line to the vehicle, a coefficient corresponding to an angle between the lane line and the current driving direction of the vehicle, a coefficient corresponding to a curvature of the lane line, and a coefficient corresponding to a rate of change of the curvature of the lane line.

[0030] Specifically, a common vehicle camera can fit a curve equation of a lane line by a cubic polynomial and output each equation coefficient. For any lane line, the fitted curve equation is as follows:

[0031] X=C0+C1×Y+C2×Y 2 +C3×Y 3 (1)

[0032] wherein Y represents a longitudinal distance of a point on the lane line to the camera, and X represents a lateral distance of the point to the camera. When the point is on the right side of the camera, X>0, and when the point is on the left side of the camera, X<0. Further, since the front-view camera is installed on the center axis of the vehicle, Y is equal to a longitudinal distance of the point on the lane line to the vehicle, and X is equal to a lateral distance of the point to the vehicle.

[0033] Correspondingly, the information of any lane line comprises each equation coefficient {C0, C1, C2, C3}. When Y=0, X=C0. Therefore, C0 corresponds to the shortest distance of the lane line to the vehicle. It should be noted that the distances in the embodiment have positive and negative signs, and the shortest distance refers to the distance with the smallest absolute value. The shortest distance C0 of the left lane line to the camera is negative, and the shortest distance C0 of the right lane line to the camera is positive.

[0034] C1 corresponds to an angle between the lane line and the current shooting direction of the camera.

[0035] C2 corresponds to the curvature of the lane line, and when Y=0, the curvature of the lane line=2C2.

[0036] C3 corresponds to the rate of change of the curvature of the lane line.

[0037] S120, determining future driving track information of the vehicle according to the lane line information.

[0038] When driving on a structured road, if the vehicle does not change lanes, its driving trajectory is confined to the middle of the two lane lines. Without a high-precision map, the lane lines output by the camera can be processed to determine the vehicle's driving trajectory over a period of time.

[0039] Specifically, when the vehicle does not change lanes, its driving trajectory also follows the curve equation described in formula (1). Based on the physical meanings of the coefficients in formula (1), the coefficients of the equations for the left and right lanes are used to determine the coefficients of the driving trajectory. The detailed process will be described in subsequent examples.

[0040] S130: Calculate the shortest distance from the target object to the driving trajectory based on the position information of the target object and the driving trajectory information.

[0041] Figure 3 This is a schematic diagram of the shortest distance from a target object to the future driving trajectory of the vehicle provided by an embodiment of the present invention. Figure 3 As shown, point O represents the center of the vehicle, point P0 represents the target object in front of the vehicle, the solid line represents the lane line, and the dotted line represents the driving trajectory determined by the driving trajectory information. The shortest distance from the target object P0 to the driving trajectory is the straight-line distance from P0 to P3.

[0042] S140: Determine whether the target object is within the lane based on the shortest distance from the target object to the driving trajectory.

[0043] In one embodiment, Figure 3 As shown, the shortest distance P0P3 from the target object to the driving trajectory and the shortest distance P4P3 from the right lane line to the driving trajectory are compared; if |P0P3|>|P4P3|, the target position and the vehicle are in different lanes; if |P0P3|<|P4P3|, the target object and the vehicle are in different lanes.

[0044] In a curve scenario, this embodiment predicts the vehicle's driving trajectory from any initial position based on lane line information, without restricting the vehicle to driving along the center line of the lane. It then uses the shortest distance from the target object to the driving trajectory to automatically determine the relationship between the target object and the vehicle's lane, thereby providing the vehicle's decision-making layer with information on whether the target object and the vehicle are in the same lane, avoiding erroneous decisions such as false AEB activation or ACC following.

[0045] Based on the above embodiment and the following embodiment, this embodiment refines the process of determining the driving trajectory information. Optionally, the process of determining the future driving trajectory information of the vehicle based on the lane line information specifically includes the following steps:

[0046] Step 1: When the vehicle is traveling on a curve, the curve equation coefficients of the left lane line and the right lane line of the lane are obtained through the front-view camera.

[0047] The front camera outputs the curve equation coefficient of the left lane line {C L0 , C L1 , C L2 , C L3}, the curve equation of the left lane is:

[0048] X L =C L0 +C L1 ×Y L +C L2 ×Y L 2 +C L3 ×Y L 3 (2)

[0049] Among them, Y L Indicates the longitudinal distance from a point on the left lane line to the vehicle; X L Indicates the lateral distance from the point to the vehicle.

[0050] At the same time, the front camera outputs the curve equation coefficient of the right lane line {C R0 , C R1 , C R2 , C R3}, the curve equation of the right lane is:

[0051] X R =C R0 +C R1 ×Y R +C R2 ×Y R 2 +C R3 ×Y R 3 (3)

[0052] Among them, Y R Indicates the longitudinal distance from a point on the right lane line to the vehicle, X L Indicates the lateral distance from the point to the vehicle.

[0053] Step 2: Determine whether the vehicle is traveling along the center line of the lane, and determine the curve equation coefficient of the vehicle's future driving trajectory based on the curve equation coefficient of the left lane line and the curve equation coefficient of the right lane line according to the judgment result.

[0054] Similar to the curve equation of the lane line, the curve equation of the driving trajectory is:

[0055] Xt =C t0 +C t1 ×Y t +C t2 ×Y t 2 +C t3 ×Y t 3 (4)

[0056] Among them, Y t Indicates the longitudinal distance from a point on the driving trajectory to the vehicle, X t Represents the lateral distance from the point to the vehicle. Accordingly, the curve coefficient of the driving trajectory includes {C t0 ,C t1 ,C t2 ,C t3}. Among them, C t0 Corresponding to the shortest distance from the driving trajectory to the vehicle.

[0057] C t1 Corresponding to the angle between the driving trajectory and the current shooting direction of the camera.

[0058] C t2 Corresponding to the curvature of the driving trajectory; by taking the derivative of equation (4), it can be seen that the curvature of the driving trajectory = 2C t2 .

[0059] C t3 Corresponding to the curvature change rate of the lane line.

[0060] OK t0 ,C t1 ,C t2 ,C t3}, first determine whether the vehicle is close to the center line of the lane. L0 and C R0 Determine whether the vehicle is traveling along the center line of the lane. Specifically, when C L0 +C R0 < the set threshold, the vehicle is considered to be traveling along the center line of the lane; when C L0 +C R0 When the threshold is greater than or equal to the set threshold, the vehicle is considered not to be traveling along the center line of the lane. The set threshold is determined according to actual needs.

[0061] After obtaining the judgment result, if the vehicle is traveling along the center line of the lane, the curve equation coefficient of the driving trajectory is directly determined according to the following formula:

[0062] C t0 =(C L0 +C R0 ) / 2,C t1 =(CL1 +C R1 ) / 2,C t2 =(C L2 +C R2 ) / 2,C t3 =(C L3 +C R3 ) / 2(5)

[0063] It can be seen that when C L0 +C R0 When <10cm, C t0 It is approximately 0, that is, the distance from the point corresponding to Y=0 on the driving trajectory to the front-view camera is 0, which is consistent with the actual situation.

[0064] If the vehicle is not traveling along the center line of the lane, the curve equation coefficients of the left lane line and the right lane line are interpolated based on the shortest distance from either the left lane line or the right lane line to the vehicle to obtain the curve equation coefficients of the future driving trajectory of the vehicle.

[0065] Specifically, first calculate the shortest distance from the right lane line to the vehicle and determine the interpolation coefficient of the linear interpolation method:

[0066] w=((C R0 -C L0 )-C R0 )) / (C R0 -C L0 )(6)

[0067] Among them, C R0 Corresponding to the shortest distance from the right lane line to the vehicle, C L0 Corresponding to the shortest distance from the left lane line to the vehicle.

[0068] After obtaining the interpolation coefficient, the curve equation coefficients of the left lane line and the right lane line are interpolated according to formula (7) to obtain the curve equation coefficients of the driving trajectory:

[0069] C t0 =C L0 +w(C R0 -C L0 ),C t1 =C L1 +w(C R1 -C L1 ),C t2 =C L2 +w(C R2 -C L2 ),C t3 =C L3 +w(C R3 -C L3 )}(7)

[0070] Substituting formula (6) into formula (7), we can see that C t0 It is approximately 0, which is consistent with the actual situation.

[0071] It should be noted that when the vehicle is traveling along the centerline of the lane, w = 1 / 2, and the result of substituting it into formula (7) is the same as formula (5). Therefore, regardless of whether the vehicle is traveling along the centerline of the lane, the curve equation coefficients of the driving trajectory can be determined by interpolation calculation. This embodiment distinguishes between the two cases because the corresponding formula (5) is simpler to calculate when w = 1 / 2.

[0072] This embodiment uses linear interpolation to determine the curve equation coefficients for the vehicle's trajectory. These coefficients can be used to predict the vehicle's trajectory from any initial position, eliminating the need to constrain the vehicle to follow the lane centerline. This makes the method more flexible in application scenarios. Furthermore, the curve equation coefficients also correspond to physical quantities such as the curvature of the trajectory, providing additional geometric and physical information.

[0073] Based on the above embodiment and the following embodiment, this embodiment refines the calculation process of the shortest distance from the target object to the driving trajectory and provides two optional implementation methods.

[0074] In a first optional implementation manner, calculating the shortest distance from the target object to the driving trajectory based on the position information of the target object and the driving trajectory information specifically includes the following steps:

[0075] Step 1: Determine a curve equation of the driving trajectory according to the driving trajectory information.

[0076] Step 2: Determine a longitudinal distance range with the target as the center based on the position information of the target.

[0077] like Figure 3 As shown in the figure, in a coordinate system with the vehicle center O as the origin, the vehicle's current direction of travel as the y-axis, and the direction perpendicular to the vehicle's current direction of travel as the x-axis, assume that the coordinates of the target object P0 in this coordinate system are (x0, y0), where x0 represents the lateral distance from the target object to the vehicle, and y0 represents the longitudinal distance from the target object to the vehicle. The longitudinal distance range is then [y0-yr, y0+yr], where yr>0. The specific value is set according to actual needs.

[0078] Step 3: Determine multiple longitudinal distances within the longitudinal distance range, substitute each longitudinal distance into the curve equation to obtain the corresponding lateral distance; each set of corresponding longitudinal distances and lateral distances constitutes a point on the driving trajectory, and obtain multiple points on the driving trajectory.

[0079] Specifically, the longitudinal distance range is divided into a certain step length Divide and obtain multiple longitudinal distances: ,in, m is a natural number, . Take each longitudinal distance as y t Substituting the curve equation into formula (4), we can get the corresponding lateral distance x t . Then every (x t ,y t ) corresponds to a point on the driving trajectory, and multiple points on the driving trajectory are obtained.

[0080] Step 4: Calculate the distance from each of the multiple points to the target object, and select the shortest distance as the shortest distance from the target object to the driving trajectory.

[0081] Calculate each (x t ,y t ) to the target object (x, y) t , select multiple d t The shortest distance among them is taken as the shortest distance from the target object to the driving trajectory.

[0082] In this embodiment, a preliminary selection range of trajectory points corresponding to the shortest distance is defined with the target object as the center, and the distances from multiple trajectory points within the range to the target object are calculated to determine the shortest distance from the target object to the driving trajectory.

[0083] In a second optional implementation, the target object's location information includes: a straight-line distance from the target object to the vehicle, and a longitudinal distance from the target object to the vehicle; accordingly, calculating the shortest distance from the target object to the driving trajectory based on the target object's location information and the driving trajectory information specifically includes the following steps:

[0084] Step 1: Determine a first position point and a second position point on the driving trajectory based on the driving trajectory information, so that the straight-line distance from the first position point to the vehicle is equal to the longitudinal distance from the target object to the vehicle, and the straight-line distance from the second position point to the vehicle is equal to the straight-line distance from the target object to the vehicle.

[0085] Figure 4 This is a schematic diagram of a first position point and a second position point provided by an embodiment of the present invention. Assuming that the target object is P0, the first position point is P1, and the second position point is P2, P1 and P2 define the preliminary range of the projection point P3 of P0 on the driving trajectory.

[0086] Figure 4In the , a coordinate system is established with the center of the vehicle O as the origin, the current direction of the vehicle as the y-axis, and the direction perpendicular to the current direction of the vehicle as the x-axis. The coordinates of any point in this coordinate system are (x, y), where x represents the lateral distance from the point to the vehicle, and y represents the longitudinal distance from the point to the vehicle. Assuming that the coordinates of the target object P0 obtained by the front-view camera are (x0, y0), the straight-line distance from the target object P0 to the vehicle O is This step will determine the coordinates of P1 (x1, y1) so that the straight-line distance from P1 to the vehicle is equal to y0; at the same time, determine the coordinates of P2 (x2, y2) so that the straight-line distance from P2 to the vehicle is equal to .

[0087] In one embodiment, first, participate in Figure 5 , according to the curve equation coefficient corresponding to the curvature of the driving track, the curve radius R of the driving track is determined. Specifically, the equation coefficient corresponding to the curvature is C t2 , then the curvature of the driving trajectory = 2C t2 According to the relationship between curvature and curve radius, the curve radius of the driving track is R=1 / 2C t2 .

[0088] Then, based on the curve radius, a geometric relationship is constructed to satisfy the straight-line distance from a point on the driving trajectory to the vehicle. Figure 5 , assuming that a point on the driving trajectory is P(x,y), then according to the geometric characteristics of the right triangles OPO1 and O1PO2, the following geometric relationship equation can be obtained:

[0089] x 2 +y 2 =|OP| 2 (8)

[0090] (Rx 2 ) 2 +y 2 =R 2 (9)

[0091] After obtaining the above-mentioned geometric relationship, the longitudinal distance from the target object to the vehicle is substituted into the geometric relationship as the straight-line distance from the point to the vehicle to determine the first position point; at the same time, the straight-line distance from the target object to the vehicle is substituted into the geometric relationship as the straight-line distance from the point to the vehicle to determine the second position point.

[0092] Specifically, substituting |OP|=y0, x=x1, y=y1 into equations (8) and (9), we obtain the geometric relationship equation satisfied by the first position point P1(x1,y1):

[0093] x1 2 +y12 =y0 2 (10)

[0094] (R-x1 2 ) 2 +y1 2 =R 2 (11)

[0095] Among them, y0 and R are both known quantities, and the coordinates of the first position point P0 can be determined by combining them.

[0096] Set |OP|= , x=x2, y=y2 are substituted into equations (8) and (9), and the geometric relationship equation satisfied by the second position point P2(x2, y2) is obtained:

[0097] x2 2 +y2 2 =x0 2 +y0 2 (12)

[0098] (R-x2 2 ) 2 +y2 2 =R 2 (13)

[0099] Among them, x0, y0 and R are all known quantities, and the coordinates of the second position point P2 can be determined by combining them.

[0100] Step 2: Determine the projection point position information of the target object on the driving trajectory based on the first position point and the second position point.

[0101] The projection point corresponds to the shortest distance from the target object to the driving track, so this step determines the information of the projection point. Figure 4 As you can see, the first location point is the intersection of the driving trajectory with a circle centered on vehicle O and with the longitudinal distance from vehicle O to target object P0 as its radius. The second location point is the intersection of the driving trajectory with a circle centered on vehicle O and with the linear distance from vehicle O to target object P0 as its radius. The projection of the target onto the driving trajectory must lie between the first and second locations. This defines the initial range of the projection point locations.

[0102] Within this preliminary range, optionally, determining the projection point position information of the target object on the driving trajectory based on the first position point and the second position point includes: determining the line connecting the first position point and the second position point; determining the projection point position information of the target object on the line as the projection point position information of the target object on the driving trajectory.

[0103] like Figure 4As shown, the line from the first position point P1 to the second position point P2 is P1P2, and the embodiment uses the projection point P3 of the target object P0 on P1P2 to approximately replace the projection point of the target object on the driving track. Therefore, only the position information of P3 needs to be determined.

[0104] In a specific embodiment, first, a first vector from the first position point to the second position point is determined, i.e. , and a second vector from the first position point to the target object, i.e. .

[0105] Then, according to the coordinates of the first vector and the second vector, the dot product of the first vector and the second vector is calculated. The coordinates of P1(x1, y1) and P2(x2, y2) have been determined, and the coordinates of each vector are as follows:

[0106] (14)

[0107] Therefore, the dot product is as follows:

[0108] (15)

[0109] Finally, according to the dot product, the position information of the projection point of the target object on the line is determined.

[0110] The value of the dot product is calculated by formula (15), and according to the physical meaning of the dot product, it can be known that:

[0111] (16)

[0112] Substituting formula (15) into formula (16) gives:

[0113] (17)

[0114] Therefore: (18)

[0115] And , substituting formula (18) gives:

[0116] (19)

[0117] Thus, the position information of the projection point P3, i.e., the distance from the projection point to the first position point, is obtained.

[0118] Step three, according to the position information of the projection point, the shortest distance from the target object to the driving track is calculated.

[0119] It can be known from Figure 4 that the shortest distance from the target object to the driving track is calculated according to the following formula:

[0120] (20)

[0121] Among them, |P1P0| is calculated according to formula (14), and |P1P3| is calculated according to formula (19).

[0122] This implementation uses a line connecting a first and second location point to define a preliminary range for the projection point. The target's projection point on this line approximates the target's projection point on the driving trajectory, eliminating the complex process of calculating the projection point's coordinates using a cubic curve equation and improving computational efficiency. Finally, the shortest distance from the target to the driving trajectory point is calculated using the projection point's location information, eliminating the need to calculate the specific coordinates of the projection point, further improving computational efficiency. The entire projection and calculation process is performed solely using sensory layer information (i.e., camera output), eliminating the need for high-precision maps and resulting in high execution efficiency.

[0123] In summary, the first optional implementation defines a preliminary range of trajectory points corresponding to the shortest distance, centered on the target object. The second optional implementation defines a preliminary range of trajectory points (i.e., projection points) corresponding to the shortest distance, using the first and second positions. Compared to the two methods, the second optional implementation provides a more precise preliminary range and directly calculates the position information of the projection points, rather than selecting the optimal point from multiple predefined points. This results in faster calculation speed and more accurate projection point position information, thereby improving the efficiency and accuracy of the shortest distance calculation.

[0124] Based on the above embodiment and the following embodiment, this embodiment refines the process of determining whether the target object and the vehicle are in the same lane. Optionally, the process of determining whether the target object is in the lane based on the positional relationship between the projection point, the target object, and the lane line specifically includes the following steps:

[0125] Step 1: Determine the target lane line between the left lane line and the right lane line based on the positional relationship between the first position point and the target object. The target lane line will serve as the basis for further determining the lane to which the target object belongs.

[0126] like Figure 3 As shown, the positional relationship between the projection point and the target object determines the target lane line in this step. Specifically, if the target object P0 is located to the right of the projection point P3, the right lane line is determined as the target lane line; if the target object P0 is located to the left of the projection point P3, the left lane line is determined as the target lane line. In particular, since the above embodiment only determines the position information of the projection point P3 (i.e., the distance from the projection point to the first position point), it is not necessary to calculate the specific position of the projection point P3. Therefore, this step reflects the positional relationship between the projection point and the target object through the positional relationship between the first position point and the target object.

[0127] Specifically, if the target object is located to the left of the first position point, the left lane is determined to be the target lane line. Alternatively, if the horizontal coordinate x0 of the target object is less than the horizontal coordinate x1 of the first position point, the target object is located to the left of the first position point.

[0128] If the target object is located to the right of the first position, the right lane line is determined to be the target lane line. Alternatively, if the horizontal coordinate x0 of the target object is greater than the horizontal coordinate x1 of the first position point, the target object is located to the right of the first position point.

[0129] Step 2: Compare the shortest distance from the target object to the driving trajectory and the shortest distance from the target lane line to the driving trajectory; if the shortest distance from the target object to the driving trajectory is less than or equal to the shortest distance from the target lane line to the driving trajectory, the target object and the vehicle are in the same lane; if the shortest distance from the target object to the driving trajectory is greater than the shortest distance from the target lane line to the driving trajectory, the target object and the vehicle are in different lanes.

[0130] Optionally, the shortest distance from the target object to the driving track is calculated according to formula (20); since the front-view camera is located on the driving track, the distance C0 from the target lane line output by the front-view camera to the front-view camera can be used as the shortest distance from the target lane line to the driving track. When the target lane line is the left lane line, C L0 is the shortest distance from the target lane line to the driving trajectory; when the target lane line is the right lane line, C R0 is the shortest distance from the target lane line to the driving trajectory.

[0131] Figure 6 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention is shown in FIG. Figure 6 As shown, the device includes a processor 60, a memory 61, an input device 62 and an output device 63; the number of processors 60 in the device can be one or more. Figure 6 In the embodiment, a processor 60 is used as an example; the processor 60, the memory 61, the input device 62 and the output device 63 in the device can be connected by a bus or other means. Figure 6 The bus connection is taken as an example.

[0132] Memory 61, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the curve target screening method described in the embodiments of the present invention or the program instructions / modules corresponding to the curve target screening method. Processor 60 executes the software programs, instructions, and modules stored in memory 61 to execute various functional applications and data processing functions of the device, thereby implementing the aforementioned curve target screening method.

[0133] The memory 61 may primarily include a program storage area and a data storage area. The program storage area may store an operating system and at least one application required for a function; the data storage area may store data generated based on the use of the terminal. Furthermore, the memory 61 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state memory device. In some instances, the memory 61 may further include memory remotely located relative to the processor 60, and these remote memories may be connected to the device via a network. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0134] The input device 62 may be used to receive input digital or character information and generate key signal input related to user settings and function control of the device. The output device 63 may include a display device such as a display screen.

[0135] Optionally, the electronic device is integrated into the automobile AEB system and / or ACC system.

[0136] An embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the curve target screening method of any embodiment.

[0137] The computer storage medium of the embodiments of the present invention may adopt any combination of one or more computer-readable media. The computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, device, or device.

[0138] A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0139] Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0140] Computer program code for performing the operations of the present invention may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may 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 may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0141] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the technical solutions of the embodiments of the present invention.

Claims

1. A method for screening curve targets, characterized in that: include: When the vehicle is driving on a curve, it obtains lane line information of the lane it is in and the location information of surrounding targets; Determining the future driving trajectory information of the vehicle based on the lane line information; Calculating the shortest distance from the target object to the driving trajectory based on the location information of the target object and the driving trajectory information; The position information of the target object includes: the straight-line distance from the target object to the vehicle, and the longitudinal distance from the target object to the vehicle; wherein the longitudinal distance represents the distance along the current driving direction of the vehicle; Determining whether the target object is within the lane according to the shortest distance from the target object to the driving trajectory includes: Determining, based on the driving trajectory information, a first position point and a second position point on the driving trajectory such that a straight-line distance from the first position point to the vehicle is equal to a longitudinal distance from the target object to the vehicle, and a straight-line distance from the second position point to the vehicle is equal to a straight-line distance from the target object to the vehicle; Determining the projection point position information of the target object on the driving trajectory according to the first position point and the second position point; The shortest distance from the target object to the driving trajectory is calculated based on the projection point position information.

2. The method according to claim 1, characterized in that The lane line information includes: a curve equation coefficient of a left lane line and a curve equation coefficient of a right lane line; Determining the future driving trajectory information of the vehicle based on the lane line information includes: Based on the shortest distance from either the left lane line or the right lane line to the vehicle, the curve equation coefficients of the left lane line and the right lane line are interpolated to obtain the curve equation coefficients of the future driving trajectory of the vehicle.

3. The method according to claim 1, characterized in that The driving trajectory information includes a curve equation coefficient of the driving trajectory, and the curve equation coefficient corresponds to the curvature of the driving trajectory; The determining, according to the driving trajectory information, a first position point and a second position point on the driving trajectory includes: Determining the curve radius of the driving trajectory according to the curve equation coefficient; Constructing a geometric relationship satisfying a straight-line distance from a point on the driving trajectory to the vehicle based on the curve radius; Substituting the longitudinal distance from the target object to the vehicle as the straight-line distance from the point to the vehicle into the geometric relationship to determine the first position point; The straight-line distance from the target object to the vehicle is used as the straight-line distance from the point to the vehicle, and is substituted into the geometric relationship to determine the second position point.

4. The method according to claim 1, wherein The determining, based on the first position point and the second position point, the projection point position information of the target object on the driving trajectory includes: Determine a line connecting the first location point and the second location point; The projection point position information of the target object on the connecting line is determined as the projection point position information of the target object on the driving track.

5. The method according to claim 4, characterized in that Determining a line connecting the first position point and the second position point includes: Determine a first vector from the first position point to the second position point; Determining the projection point position information of the target object on the connecting line includes: Determine a second vector from the first location point to the target object; Calculating a dot product of the first vector and the second vector according to the coordinates of the first vector and the second vector; According to the dot product, position information of the projection point of the target object on the connecting line is determined.

6. The method according to claim 5, characterized in that The projection point position information includes: the straight-line distance from the projection point to the first position point; Calculating the shortest distance from the target object to the driving trajectory based on the projection point position information includes: The shortest distance from the target object to the driving trajectory is calculated based on the straight-line distance from the projection point to the first position point and the length of the second vector.

7. The method according to claim 1, characterized in that The determining whether the target object is in the lane according to the shortest distance from the target object to the driving trajectory includes: Determining a target lane line among a left lane line and a right lane line based on a positional relationship between the first position point and the target object; Comparing the shortest distance from the target object to the driving trajectory and the shortest distance from the target lane line to the driving trajectory; It is determined whether the target object is within the lane according to the comparison result.

8. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable by the processor, wherein the processor implements the method according to any one of claims 1 to 7 when executing the computer program.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to cause the computer to execute the method according to any one of claims 1 to 7.

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