Vehicle swing detection method, device, electronic equipment and automatic driving vehicle

Abstract

The present disclosure provides a vehicle swing detection method, device, electronic device and autonomous driving vehicle, which relate to the field of artificial intelligence, and in particular to the field of autonomous driving technology. The specific implementation scheme is: obtaining the current angular velocity of the vehicle to be detected to obtain a first angular velocity; obtaining the angular velocity of the vehicle to be detected collected before the first angular velocity to obtain a second angular velocity; determining whether the angular velocity of the vehicle to be detected is reversed based on the first angular velocity and the second angular velocity; if a reversal occurs, obtaining historical reversal information of the vehicle to be detected, wherein the historical reversal information includes the reversal time and reversal direction of the historical angular velocity reversal of the vehicle to be detected; if there is a historical angular velocity reversal in the historical reversal information that is opposite to the reversal direction of the angular velocity reversal of the current vehicle to be detected, and the reversal time interval is less than a preset time threshold, then it is determined that the vehicle to be detected is swinging. The present disclosure realizes the detection of vehicle swinging behavior.

Description

Technical Field

[0001] The present disclosure relates to the field of artificial intelligence technology, and in particular to the field of autonomous driving technology. Background Art

[0002] Autonomous vehicles, also known as driverless cars, computer-driven cars, or wheeled mobile robots, are intelligent vehicles that are unmanned by computers. They operate autonomously and safely, following pre-planned routes, without the need for human intervention. Summary of the Invention

[0003] The present disclosure provides a vehicle sway detection method, device, electronic equipment, and an autonomous driving vehicle.

[0004] According to one aspect of the present disclosure, a vehicle sway detection method is provided, comprising:

[0005] Obtaining the current angular velocity of the vehicle to be detected to obtain a first angular velocity;

[0006] Obtaining the angular velocity of the vehicle to be detected acquired before the first angular velocity to obtain a second angular velocity;

[0007] determining, based on the first angular velocity and the second angular velocity, whether the angular velocity of the vehicle to be detected is reversed;

[0008] If a reversal occurs, obtaining historical reversal information of the vehicle to be detected, wherein the historical reversal information includes the reversal time and reversal direction of the historical angular velocity reversal of the vehicle to be detected;

[0009] If the historical reversal information includes a historical angular velocity reversal having a reversal direction opposite to the angular velocity reversal of the current vehicle to be detected and a reversal time interval less than a preset time threshold, it is determined that the vehicle to be detected has swung.

[0010] According to another aspect of the present disclosure, there is provided a vehicle sway detection device, comprising:

[0011] A first angular velocity acquisition module is used to acquire the current angular velocity of the vehicle to be detected to obtain a first angular velocity;

[0012] A second angular velocity acquisition module, configured to acquire the angular velocity of the vehicle to be detected collected before the first angular velocity to obtain a second angular velocity;

[0013] an angular velocity reversal detection module, configured to determine whether the angular velocity of the vehicle to be detected is reversed based on the first angular velocity and the second angular velocity;

[0014] a reversal information acquisition module, configured to acquire historical reversal information of the vehicle to be detected if a reversal occurs, wherein the historical reversal information includes a reversal time and a reversal direction of a historical angular velocity reversal of the vehicle to be detected;

[0015] The swing determination module is used to determine that the vehicle to be detected is swinging if there is a historical angular velocity reversal in the historical reversal information that has a reversal direction opposite to the angular velocity reversal of the current vehicle to be detected and the reversal time interval is less than a preset time threshold.

[0016] The vehicle sway detection method provided by the present disclosure first determines whether the vehicle under detection is currently experiencing an angular velocity reversal based on the current angular velocity of the vehicle under detection and a previously acquired second angular velocity. If a reversal has occurred, the method then determines, based on historical reversal information obtained for the vehicle under detection, whether there has been a historical angular velocity reversal in the opposite direction to the current angular velocity reversal and with a reversal interval less than a preset time threshold, and thus determines that the vehicle under detection has experienced sway. The present disclosure achieves vehicle sway detection.

[0017] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings are provided to facilitate a better understanding of the present invention and do not constitute a limitation of the present disclosure.

[0019] Figure 1a is a flow chart of a first vehicle swing detection method provided by the present disclosure;

[0020] Figure 1b is an example diagram of the angular velocity of a vehicle when it swings according to the present disclosure;

[0021] Figure 2a is a flow chart of a second vehicle swing detection method provided by the present disclosure;

[0022] Figure 2b is an example diagram of a sampling window of a vehicle to be detected provided in accordance with the present disclosure;

[0023] Figure 3 This is a possible implementation of step S12 provided in the present disclosure;

[0024] Figure 4 This is a possible implementation of step S34 provided in the present disclosure;

[0025] Figure 5 is a flow chart of a third vehicle swing detection method provided by the present disclosure;

[0026] Figure 6 is a structural schematic diagram of a vehicle sway detection device provided in accordance with the present disclosure;

[0027] Figure 7 It is a block diagram of an electronic device used to implement the vehicle swing detection method according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0028] The following description of exemplary embodiments of the present disclosure is made in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding. These details should be considered as merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0029] In actual applications, when an autonomous vehicle experiences an abnormal malfunction, its actual driving route and driving posture may deviate from the pre-planned route and direction. In this case, the autonomous vehicle will self-correct, continuously attempting to approach the correct, pre-planned route, which may result in oscillation during the correction process. Existing technologies have not yet considered how to promptly detect oscillation in autonomous vehicles and provide effective solutions. As a result, autonomous vehicles will continue to oscillate until they return to the correct route. This abnormal oscillation on the road, also known as "dragon drawing" behavior, can easily lead to dangerous consequences such as collisions and may also cause the autonomous vehicle to further experience other abnormal malfunctions.

[0030] Therefore, how to timely monitor the swinging behavior of self-driving cars and deal with it in time to avoid possible dangerous consequences is an urgent problem that needs to be solved by self-driving cars.

[0031] To solve this problem, the present disclosure provides a vehicle swing detection method, comprising:

[0032] Obtaining the current angular velocity of the vehicle to be detected to obtain a first angular velocity;

[0033] Obtaining the angular velocity of the vehicle to be detected acquired before the first angular velocity to obtain a second angular velocity;

[0034] determining, based on the first angular velocity and the second angular velocity, whether the angular velocity of the vehicle to be detected is reversed;

[0035] If a reversal occurs, obtaining historical reversal information of the vehicle to be detected, wherein the historical reversal information includes the reversal time and reversal direction of the historical angular velocity reversal of the vehicle to be detected;

[0036] If the historical reversal information includes a historical angular velocity reversal having a reversal direction opposite to the angular velocity reversal of the current vehicle to be detected and a reversal time interval less than a preset time threshold, it is determined that the vehicle to be detected has swung.

[0037] As can be seen from the above, the vehicle swing detection method provided by the present disclosure first determines whether the vehicle to be detected is currently experiencing an angular velocity reversal based on the current angular velocity of the vehicle to be detected and the second angular velocity collected previously. If a reversal occurs, it indicates that the current driving direction of the vehicle to be detected has reversed. Then, based on the historical reversal information of the vehicle to be detected obtained, it is determined that there are historical angular velocity reversals that are opposite to the reversal direction of the current angular velocity reversal and the reversal time interval is less than a preset time threshold. This indicates that the driving direction of the vehicle to be detected has reversed multiple times in a short period of time, and thus it can be determined that the vehicle to be detected has experienced swinging behavior. Since the acquisition of angular velocity and the subsequent reversal judgment are both performed in real time, the swing of the vehicle to be detected can be detected in a timely manner, so that countermeasures can be taken in a timely manner, thereby improving the safety of the vehicle to be detected.

[0038] The vehicle swing detection method provided by the present disclosure is described in detail below through specific embodiments.

[0039] The method of the embodiment of the present disclosure is applied to a smart terminal and can be implemented through the smart terminal. In actual use, the smart terminal can be a remotely connected server, an in-vehicle data processing center, etc.

[0040] See also Figure 1a , Figure 1a A schematic flow chart of a first vehicle swing detection method provided in the present disclosure includes:

[0041] Step S11: Obtain the current angular velocity of the vehicle to be detected to obtain a first angular velocity.

[0042] The aforementioned vehicle to be inspected is an unmanned vehicle, also known as a computer-driven vehicle or a wheeled mobile robot. It is understood that the vehicle to be inspected is equipped with an automated control system, including a navigation system, a positioning system, a route planning system, a perception system, etc., based on which the vehicle to be inspected can operate autonomously without the intervention of a human driver.

[0043] During the automatic driving of the vehicle to be detected, various types of vehicle information, such as vehicle speed and driving conditions, need to be acquired in real time to understand the vehicle's current environment and its own condition. The current angular velocity of the vehicle to be detected acquired in the vehicle sway detection method provided in this disclosure is also a form of vehicle information. This information can be acquired using a collection device onboard the vehicle to be detected or based on a perception system included in the vehicle's control system, such as a radar perception system.

[0044] The current angular velocity of the vehicle to be detected is obtained and used as the first angular velocity. The time corresponding to the acquisition of the first angular velocity is the current time. The first angular velocity has a numerical value and a direction, which can represent the numerical value and direction of the driving speed of the vehicle to be detected.

[0045] Step S12: Acquire the angular velocity of the vehicle to be detected collected before the first angular velocity to obtain a second angular velocity.

[0046] As mentioned above, during the automatic driving process of the vehicle to be detected, various types of vehicle information, including the angular velocity of the vehicle to be detected, need to be acquired in real time. The angular velocity of the vehicle to be detected is continuously acquired in real time, that is, before acquiring the first angular velocity, the angular velocities of multiple vehicles to be detected are also acquired, corresponding to multiple moments before the current moment. One angular velocity is selected from these angular velocities as the second angular velocity of the vehicle to be detected, and the corresponding moment is a moment before the current moment. The second angular velocity also has a numerical value and direction, indicating the numerical value and direction of the driving speed of the vehicle to be detected at that moment.

[0047] The method for selecting the above-mentioned second angular velocity can be pre-set, and the angular velocity obtained before the current moment and at a preset time interval from the current moment can be used as the second angular velocity, for example, the angular velocity obtained one minute before the current moment, 30 seconds before the current moment, etc. can be used as the second angular velocity; or the angular velocity obtained at the previous moment before the current moment when the first angular velocity is obtained can be used as the second angular velocity, and the corresponding moment is an adjacent moment to the current moment; the selection conditions of the second angular velocity can also be pre-set, for example, the selection conditions include requirements on the numerical value of the angular velocity, etc., and then the angular velocity that meets the selection conditions is selected as the second angular velocity from the multiple angular velocities obtained previously.

[0048] Step S13: determining whether the angular velocity of the vehicle to be detected is reversed according to the first angular velocity and the second angular velocity.

[0049] After obtaining the first angular velocity and the second angular velocity of the vehicle to be detected, a comparison is performed to determine whether the angular velocity of the vehicle to be detected has reversed. As mentioned above, the first angular velocity and the second angular velocity each have their own numerical magnitude and direction. In one possible embodiment, if the directions of the first angular velocity and the second angular velocity are opposite, and the absolute value of the numerical value of the first angular velocity and the absolute value of the numerical value of the second angular velocity both exceed a preset angular velocity reversal threshold, then it is determined that the angular velocity of the vehicle to be detected has reversed at the current moment.

[0050] The preset angular velocity reversal threshold may be manually preset, indicating that when the absolute values of two angular velocities with opposite directions both exceed the threshold, it indicates that the angular velocity has reversed.

[0051] For example, the first angular velocity can be +7, and the plus sign can indicate that the direction of the first angular velocity is the same as the direction of the initial angular velocity obtained by the vehicle to be detected at the beginning of this automatic driving; the second angular velocity can be -9, and the negative sign indicates that the direction of the second angular velocity is opposite to the direction of the initial angular velocity obtained by the vehicle to be detected at the beginning of this automatic driving; the preset angular velocity reversal threshold can be pre-set to 5. At this time, the first angular velocity and the second angular velocity are in opposite directions, and the absolute value of the first angular velocity is 7, and the absolute value of the second angular velocity is 9. When both exceed the threshold value 5, it indicates that the current angular velocity of the vehicle to be detected has reversed.

[0052] Step S14: If a reversal occurs, the historical reversal information of the vehicle to be detected is obtained.

[0053] The historical reversal information includes the reversal time and reversal direction of the historical angular velocity reversal of the vehicle to be detected.

[0054] It should be understood that while the vehicle is traveling, its angular velocity is allowed to undergo reasonable reversals. For example, a reversal of angular velocity during a turn is considered a reasonable reversal. Whether the current angular velocity reversal is reasonable is determined by combining multiple angular velocity reversal events observed during a period of continuous driving.

[0055] Therefore, after determining above that the angular velocity of the current vehicle to be detected has reversed, it is also necessary to obtain the historical reversal information of the vehicle to be detected. The historical reversal information includes information on one or more angular velocity reversals that have occurred in the vehicle to be detected during a continuous driving process before the current moment, including the reversal time and corresponding reversal direction of one or more angular velocity reversals.

[0056] Step S15: If the historical reversal information contains a historical angular velocity reversal having a reversal direction opposite to the angular velocity reversal of the current vehicle to be detected and a reversal time interval less than a preset time threshold, it is determined that the vehicle to be detected has swung.

[0057] If there is at least one historical angular velocity reversal in the historical reversal information, and the reversal direction of the historical angular velocity reversal is opposite to the angular velocity reversal of the current vehicle to be detected, that is, the directions of the angular velocity reversals are opposite, for example, the direction of one angular velocity reversal is from positive to negative, and the direction of the other angular velocity reversal is from negative to positive, and the time interval between the reversal times of the two reversals is less than the preset time threshold, then it is determined that the vehicle to be detected is swinging.

[0058] For example, if the current angular velocity reversal is from a first angular velocity of +7 to a second angular velocity of -9, and there is a historical angular velocity reversal from an angular velocity of -8 to an angular velocity of +10 in the historical reversal information, and the time interval between the reversal times of these two reversals is less than the preset time threshold, it is determined that the vehicle to be detected is experiencing swinging behavior.

[0059] The preset time threshold is pre-set. If the interval between two opposite directional reversals is less than the threshold, it indicates that the vehicle under test has experienced multiple opposite angular velocity reversals within a short period of time, indicating that the vehicle under test has swung. The preset time threshold can be 30 seconds, one minute, three minutes, etc.

[0060] like Figure 1b As shown, Figure 1b The figure shows the angular velocity of a vehicle to be detected when it swings. It can be seen from the figure that when the vehicle to be detected swings, the angular velocity reversal occurs continuously.

[0061] As can be seen from the above, the vehicle swing detection method provided by the present disclosure first determines whether the vehicle to be detected is currently experiencing an angular velocity reversal based on the current angular velocity of the vehicle to be detected and the second angular velocity collected previously. If a reversal occurs, it indicates that the current driving direction of the vehicle to be detected has reversed. Then, based on the historical reversal information of the vehicle to be detected obtained, it is determined that there are historical angular velocity reversals that are opposite to the reversal direction of the current angular velocity reversal and the reversal time interval is less than a preset time threshold. This indicates that the driving direction of the vehicle to be detected has reversed multiple times in a short period of time, and thus it can be determined that the vehicle to be detected has experienced swinging behavior. Since the acquisition of angular velocity and the subsequent reversal judgment are both performed in real time, the swing of the vehicle to be detected can be detected in a timely manner, so that countermeasures can be taken in a timely manner, thereby improving the safety of the vehicle to be detected.

[0062] In one embodiment of the present disclosure, the step S11 of obtaining the current angular velocity of the vehicle to be detected to obtain the first angular velocity includes:

[0063] The angular velocity of the vehicle to be detected, which is sent by the detection device according to a preset detection frequency, is received in real time to obtain a first angular velocity.

[0064] The detection equipment is mounted on the vehicle to be inspected and is used to monitor various information, including vehicle information and the vehicle's surroundings. While the vehicle is in motion, the detection equipment continuously monitors its angular velocity in real time and transmits this information to a processing system for subsequent analysis at a preset detection frequency.

[0065] The preset detection frequency is a pre-set frequency that indicates the frequency at which the detection device outputs the vehicle's angular velocity in real time. This frequency can be customized based on the detection capabilities of the detection device and the data transmission bandwidth between the detection device and the processing system. For example, it can be set to 200, 150, or 100 times per second.

[0066] like Figure 2a As shown, Figure 2a A schematic flow chart of a second vehicle swing detection method provided in the present disclosure includes:

[0067] Step S21: Based on the acquisition time of the first angular velocity, calculate the index information of the first angular velocity to obtain current index information.

[0068] The acquisition time of the angular velocity is the time when the detection device detects the angular velocity, and is also the time when the angular velocity sent by the detection device is received in real time. The acquisition time of the first angular velocity is the current time when the first angular velocity is obtained.

[0069] The angular velocity index information can be understood as a storage tag corresponding to the angular velocity. The angular velocity index information can correspond to the angular velocity and the time at which the angular velocity was acquired. The current index information is obtained by calculating the index information of the first angular velocity. The current index information can correspond to the first angular velocity and the current time.

[0070] In one embodiment of the present disclosure, the index information of the first angular velocity may be calculated by performing a modulo operation on the acquisition time of the first angular velocity using a preset sampling window duration to obtain the current index information.

[0071] The above-mentioned preset sampling window duration is pre-set, indicating that within each preset sampling window duration, the vehicle condition of the vehicle to be detected is relatively stable. Specifically, the index information of the angular velocity corresponding to each moment separated by the preset sampling window duration is the same. It is expected that when analyzing the angular velocity of the vehicle to be detected, if it is necessary to analyze the historical angular velocity acquired before the moment of acquisition of the angular velocity, the index information can be used to quickly determine the moment separated by the preset sampling window duration from the moment of acquisition of the angular velocity and the corresponding angular velocity as the historical angular velocity, and then perform analysis.

[0072] In an example, Figure 2b As shown, Figure 2b The diagram shows an example of a sampling window for a vehicle to be detected. The sampling window is a storage location that periodically stores the angular velocity of the vehicle to be detected, the acquisition time of the angular velocity, and the corresponding index information according to a preset sampling window duration.

[0073] In addition to the preset detection frequency and preset sampling window duration mentioned above, the processing system also has a preset sampling frequency, which represents the frequency at which the processing system stores the received angular velocity. Specifically, the preset sampling frequency is greater than the preset detection frequency.

[0074] If the preset detection frequency mentioned above is 0.01 seconds / time, and the preset sampling window duration is 2 seconds. If the preset sampling frequency is 0.1 seconds / time, then within the preset sampling window duration, the processing system will obtain the angular velocity and acquisition time of 200 vehicles to be detected detected by the detection equipment, and only store the angular velocity and acquisition time of 20 vehicles to be detected, and each corresponds to 20 different index information. The index information of the angular velocity of the 21st vehicle to be detected is the same as the index information of the first angular velocity obtained. Then, when it is necessary to analyze the historical angular velocity obtained before the acquisition time of the angular velocity, the angular velocity corresponding to the moment 2 seconds apart from the acquisition time of the angular velocity can be determined as the historical angular velocity through the index information, and then analyzed.

[0075] In one example, the current index information is obtained by calculating the index information of the first angular velocity by performing a modulo operation on the acquisition time of the first angular velocity according to the preset sampling window duration. The current index information can be calculated according to the following formula:

[0076] Index cur =(Interger(T cur )%10+Float(T cur ))*R%(TW*R)

[0077] Among them, Indexcur is the current index information, Tcur is the acquisition time of the first angular velocity, R is the above-mentioned preset sampling frequency, TW is the above-mentioned sampling window length, Interger() represents taking the integer part, Float() represents taking the decimal part, and % represents the remainder operation.

[0078] It can be understood from the above formula that the value of the index information is between [0, R].

[0079] Step S22: Determine whether the current index information is the same as the previous index information.

[0080] The previous index information is the index information of the last received angular velocity.

[0081] As mentioned above, the detection equipment detects and transmits the angular velocity of the vehicle to be detected in real time at a preset detection frequency, while the processing system stores the received angular velocity in a sampling window at a preset sampling frequency. Furthermore, because the preset detection frequency is lower than the preset sampling frequency, the processing system allows the acquisition time of the stored angular velocity to fall within a reasonable error between the preset sampling frequency and the preset detection frequency. For example, if the preset detection frequency is 0.01 seconds per time and the preset sampling frequency is 0.1 seconds per time, if the moment of the first angular velocity reception is in the range [0, 0.1), the angular velocity and the acquisition time are stored in the sampling window, and the corresponding index information is stored as the 0.1-second index information. The moment of the second angular velocity reception is in the range [0.1, 0.2). If the moment of the second angular velocity reception is still in the range [0, 0.1), the angular velocity received this time is not stored, but angular velocity reception continues until the moment of the received angular velocity is in the range [0.1, 0.2), at which point the angular velocity and the acquisition time are stored in the sampling window, and the corresponding index information is stored as the 0.2-second index information.

[0082] In this case, the time period corresponding to the preset sampling frequency is used as the preset sampling period, and the angular velocity collection moments within the same preset sampling period have angular velocities corresponding to the same index interval. For example, when the preset sampling frequency is 0.1 seconds / time, the preset sampling period is 0.1 seconds, [0,0.1) is one index interval, and [0.1,0.2) is the next index interval. The index information of the angular velocities corresponding to the same index interval is the same, and the same index interval only needs to store the angular velocity and angular velocity collection moment once. Therefore, when the angular velocity collection moments received twice are located in the same index interval, it means that the interval between the two angular velocity collection moments is less than the preset sampling period, then the index information corresponding to the two received angular velocities is the same, and only one of the two received angular velocities needs to be stored as the angular velocity corresponding to the index information.

[0083] The previously received angular velocity is the angular velocity transmitted by the detection device before the first angular velocity is received at the current moment. Determining whether the current index information is identical to the previous index information involves determining whether the acquisition moment corresponding to the previous index information and the current moment fall within the same preset sampling period and the same index interval for the angular velocity. If so, this indicates that the acquisition moment corresponding to the previous index information and the current moment fall within the same preset sampling period and angular velocity interval. Therefore, either of the two can be selected and its corresponding angular velocity stored in the sampling window.

[0084] Step S23: If they are not the same, based on the angular velocity and angular velocity acquisition time corresponding to the previous index information, it is determined whether there is historical information corresponding to the previous index information in the sampling window.

[0085] The historical information includes historical angular velocity and historical angular velocity collection time.

[0086] If the current index information differs from the previous index information, this indicates that the acquisition time corresponding to the previous index information and the current time do not fall within the preset sampling period, and the angular velocity does not fall within the same index interval. At this point, a determination is made as to whether historical information corresponding to the previous index information exists within the sampling window, that is, whether corresponding historical information has already been stored within the index interval of the previous index information.

[0087] Therefore, it is determined whether there is historical information corresponding to the previous index information in the sampling window, that is, whether the angular velocity collection time and the corresponding angular velocity in the index interval corresponding to the previous index information in the sampling window have been stored.

[0088] Step S24: If not, the previous index information and the angular velocity and angular velocity collection time corresponding to the previous index information are recorded in the sampling window, and the last update time of the sampling window is updated to the angular velocity collection time of the previous index information.

[0089] If there is historical information corresponding to the previous index information in the sampling window, it means that the angular velocity collection time and the corresponding angular velocity in the index interval corresponding to the previous index information in the sampling window have been stored, and there is no need to record and store the previous index information and its corresponding angular velocity and angular velocity collection time.

[0090] If there is no historical information corresponding to the previous index information in the sampling window, it means that the angular velocity collection time and the corresponding angular velocity in the index interval corresponding to the previous index information in the sampling window have not been stored, then the previous index information and its corresponding angular velocity and angular velocity collection time are recorded in the index interval corresponding to the previous index information in the sampling window.

[0091] At the same time, the last update time of the sampling window is updated to the angular velocity acquisition time of the previous index information, indicating that the last angular velocity stored in the sampling window is the acquisition time, and the last stored angular velocity is the angular velocity corresponding to the acquisition time.

[0092] As can be seen from the above, the vehicle sway detection method provided by the present disclosure calculates angular velocity index information and stores the angular velocity, angular velocity collection time, and corresponding index information in a sampling window, thereby enabling orderly storage of the angular velocity and angular velocity collection time. When determining that the current index information is different from the previous index information, it is also determined whether the previous index information and its corresponding angular velocity are already stored in the sampling window. If not, the previous index information and its corresponding angular velocity and angular velocity collection time are stored. This allows the received angular velocity and angular velocity collection time of the vehicle to be detected to be stored in a timely manner, reducing the possibility of storage omissions.

[0093] In one possible implementation, Figure 3 As shown, the above step S12 obtains the angular velocity of the vehicle to be detected collected before the first angular velocity to obtain the second angular velocity, including:

[0094] Step S31: acquiring historical information corresponding to the same index information as the current index information in the sampling window to obtain first historical information.

[0095] The historical information corresponding to the index information identical to the current index information is obtained in the sampling window, that is, the moment and its corresponding angular velocity separated from the current moment by a preset sampling window duration are obtained in the sampling window. The obtained moment and its corresponding angular velocity are the first historical information.

[0096] Step S32: determining whether the difference between the time when the historical angular velocity of the first historical information is collected and the time when the first angular velocity is collected is greater than a first preset time length and less than a second preset time length.

[0097] As mentioned above, the sampling window periodically stores the angular velocity of the vehicle to be detected, the time when the angular velocity is collected, and the corresponding index information according to the preset sampling window duration. The historical angular velocity collection time of the historical information corresponding to the index information that is the same as the current index information can be a time that is separated from the current time by one or more preset sampling window durations.

[0098] Therefore, after obtaining the first historical information, it is necessary to determine whether the difference between the historical angular velocity collection time of the first historical information and the collection time of the first angular velocity is greater than the first preset time length and less than the second preset time length, that is, to determine whether the historical angular velocity collection time of the first historical information is separated from the current time by a preset sampling window time length.

[0099] In one example, the first preset duration is the duration corresponding to the preset sampling frequency, that is, the preset sampling frequency is R, and the first preset duration is 1 / R. For example, if the preset sampling frequency is 0.1 seconds / time, the first preset duration is 0.1 seconds. The second preset duration is the duration corresponding to the preset sampling window duration, that is, if the preset sampling window duration is TW, the second preset duration is 1.5*TW. For example, if the preset sampling window duration is 2 seconds, the second preset duration is 1.5*2, or 3 seconds.

[0100] Step S33: If yes, use the historical angular velocity of the first historical information as the second angular velocity.

[0101] If the difference between the historical angular velocity collection time of the first historical information and the collection time of the first angular velocity is greater than the first preset time length and less than the second preset time length, it means that the historical angular velocity collection time of the first historical information is separated from the current time by a preset sampling window time length, and the historical angular velocity of the first historical information is used as the second angular velocity.

[0102] Step S34: If not, determine whether there is second historical information in the sampling window.

[0103] The difference between the historical angular velocity collection time in the second historical information and the collection time of the first angular velocity is greater than a first preset time length and less than a second preset time length.

[0104] If the difference between the historical angular velocity collection time of the first historical information and the collection time of the first angular velocity is not greater than the first preset time length and less than the second preset time length, then continue to determine whether there is second historical information in the sampling window, and the historical angular velocity collection time in the second historical information is separated from the current time by a preset sampling window time length.

[0105] Step S35: If the second historical information exists in the sampling window, the historical angular velocity in the second historical information is used as the second angular velocity.

[0106] If there is second historical information in which the historical angular velocity collection time is separated from the current time by a preset sampling window time, the historical angular velocity in the second historical information is used as the second angular velocity.

[0107] As can be seen from the above, the vehicle swing detection method provided by the present disclosure first obtains the first historical information corresponding to the index information that is the same as the current index information, and determines whether the historical angular velocity collection time of the historical information is greater than the first preset time length and less than the second preset time length. If so, it means that the historical angular velocity collection time meets the requirements, and the historical angular velocity of the first historical information is used as the second angular velocity for subsequent analysis, so that the second angular velocity can be determined efficiently, thereby improving the overall efficiency of the angular velocity analysis; if the historical angular velocity collection time of the first historical information is not greater than the first preset time length and less than the second preset time length, then continue to determine the second historical information whose historical angular velocity collection time is greater than the first preset time length and less than the second preset time length, and use its historical angular velocity as the second angular velocity for subsequent analysis, so that the second angular velocity corresponding to the required time can be obtained more accurately, thereby improving the accuracy of the angular velocity analysis.

[0108] In one possible implementation, Figure 4 As shown, the above step S34 determines whether there is second historical information in the sampling window, including:

[0109] Step S41: searching for second historical information in the historical information preceding the first historical information in the sampling window.

[0110] A search is performed in the historical information preceding the first historical information in the sampling window to determine whether there is second historical information. That is, in the sampling window, a search is performed to determine whether there is second historical information whose historical angular velocity collection moment is greater than a first preset time length and less than a second preset time length in the historical information corresponding to the moment preceding the historical angular velocity collection moment of the first historical information.

[0111] As mentioned above, the calculation of index information is related to the angular velocity collection time, the preset sampling frequency, and the preset sampling window duration. Specifically, the index information ranges from [0, R], where R is the preset sampling frequency. The second historical information is then searched for in the historical information preceding the first historical information in the sampling window. Alternatively, a search can be performed between 0 and the index corresponding to the first historical information to determine if there is any historical information corresponding to an index whose historical angular velocity collection time is greater than the first preset duration and less than the second preset duration. This historical information is then used as the second historical information.

[0112] Step S42: If the second historical information does not exist in the historical information before the first historical information in the sampling window, searching the historical information after the first historical information in the sampling window for the second historical information.

[0113] If the second historical information does not exist in the historical information before the first historical information in the sampling window, then in the sampling window, search whether the second historical information exists in the historical information corresponding to the moment after the historical angular velocity collection moment of the first historical information. Alternatively, search whether there is index information between the index information corresponding to the first historical information and the value of the preset sampling frequency. The corresponding historical information whose historical angular velocity collection moment is greater than the first preset time length and less than the second preset time length is used as the second historical information.

[0114] As can be seen from the above, the vehicle swing detection method provided by the present invention first searches for whether the second historical information exists in the historical information before the first historical information in the sampling window. If not, the historical information after the first historical information in the sampling window is searched for whether the second historical information exists, so as to ensure that the historical information stored in the sampling window can be traversed until it is determined whether there is the second historical information that meets the requirements in the sampling window.

[0115] In one embodiment of the present disclosure, Figure 5 As shown, Figure 5 This is a flow chart of a third vehicle swing detection method provided by the present disclosure, which further includes:

[0116] Step S51: If the second historical information does not exist in the sampling window, determine whether the difference between the last update time of the sampling window and the acquisition time of the first angular velocity is greater than a preset sampling period;

[0117] Step S52: If it is greater than a preset sampling period, recording the first angular velocity and the acquisition time of the first angular velocity into the sampling window.

[0118] If, after the process of searching for the second historical information in the sampling window as described above, it is determined that the second historical information does not exist in the sampling window, it means that the first angular velocity does not need to be analyzed at present. At this time, it is determined whether the difference between the last update time of the sampling window and the acquisition time of the first angular velocity is greater than the preset sampling period.

[0119] The preset sampling period is the duration corresponding to the preset sampling frequency, indicating that the sampling window stores the angular velocity once every preset sampling period, that is, the same preset sampling period corresponds to the same index interval. Specifically, when the preset sampling frequency is R, the preset sampling period is 1 / R.

[0120] If the difference between the last update time of the sampling window and the acquisition time of the first angular velocity is not greater than the preset sampling period, it means that the acquisition time of the angular velocity stored in the sampling window for the last time and the first angular velocity does not exceed the preset sampling period, that is, the angular velocity stored in the sampling window for the last time and the first angular velocity are in the same index interval, and the sampling window does not need to store the first angular velocity.

[0121] If the difference between the last update time of the sampling window and the acquisition time of the first angular velocity is greater than the preset sampling period, it means that the last angular velocity stored in the sampling window and the acquisition time of the first angular velocity have exceeded the preset sampling period, and the last angular velocity stored in the sampling window and the first angular velocity are no longer in the same index interval. In this case, the sampling window needs to store the first angular velocity. At this time, the first angular velocity, the acquisition time of the first angular velocity, and the current index information are recorded in the sampling window.

[0122] As can be seen from the above, in the vehicle swing detection method provided by the present invention, if the second historical information does not exist in the sampling window, it means that the first angular velocity does not need to be analyzed at present, and then the difference between the last update time of the sampling window and the collection time of the first angular velocity is further determined to be greater than the preset sampling period to determine whether the first angular velocity needs to be stored. If it is greater than the preset sampling period, it means that the first angular velocity needs to be stored, and the first angular velocity and the collection time of the first angular velocity are recorded in the sampling window, thereby avoiding omission of the storage of the angular velocity as much as possible, and facilitating the subsequent angular velocity analysis of the vehicle to be detected.

[0123] See also Figure 6 The present disclosure also provides a vehicle swing detection device, including:

[0124] A first angular velocity acquisition module 601 is configured to acquire the current angular velocity of the vehicle to be detected to obtain a first angular velocity;

[0125] A second angular velocity acquisition module 602 is configured to acquire the angular velocity of the vehicle to be detected acquired before the first angular velocity to obtain a second angular velocity;

[0126] an angular velocity reversal detection module 603, configured to determine whether the angular velocity of the vehicle to be detected is reversed based on the first angular velocity and the second angular velocity;

[0127] A reversal information acquisition module 604 is configured to acquire historical reversal information of the vehicle to be detected if a reversal occurs, wherein the historical reversal information includes a reversal time and a reversal direction of a historical angular velocity reversal of the vehicle to be detected;

[0128] The swing determination module 605 is configured to determine that the vehicle to be detected is swinging if there is a historical angular velocity reversal in the historical reversal information that has a reversal direction opposite to the angular velocity reversal of the current vehicle to be detected and a reversal time interval that is less than a preset time threshold.

[0129] As can be seen from the above, the vehicle swing detection device provided by the present disclosure first determines whether the vehicle to be detected is currently experiencing an angular velocity reversal based on the current angular velocity of the vehicle to be detected and the second angular velocity collected previously. If a reversal occurs, it indicates that the current driving direction of the vehicle to be detected has reversed. Then, based on the historical reversal information of the vehicle to be detected obtained, it is determined that there are historical angular velocity reversals that are opposite to the reversal direction of the current angular velocity reversal and the reversal time interval is less than a preset time threshold. This indicates that the driving direction of the vehicle to be detected has reversed multiple times in a short period of time, and it is then possible to determine that the vehicle to be detected has experienced swinging behavior. Since the acquisition of the angular velocity and the subsequent reversal judgment are both performed in real time, the swing of the vehicle to be detected can be detected in a timely manner, so that countermeasures can be taken in a timely manner, thereby improving the safety of the vehicle to be detected.

[0130] In one embodiment of the present disclosure, the first angular velocity acquisition module 601 includes:

[0131] an angular velocity receiving submodule, configured to receive in real time the angular velocity of the vehicle to be detected, which is sent by the detection device at a preset detection frequency, and obtain a first angular velocity;

[0132] The device further comprises:

[0133] an index information calculation module, configured to calculate the index information of the first angular velocity based on the acquisition time of the first angular velocity to obtain current index information;

[0134] An index information determination module, configured to determine whether current index information is the same as previous index information, wherein the previous index information is the index information of the last received angular velocity;

[0135] a historical information determination module, configured to determine, if the information is not identical, whether historical information corresponding to the previous index information exists in the sampling window based on the angular velocity and the angular velocity collection time corresponding to the previous index information, wherein the historical information includes the historical angular velocity and the historical angular velocity collection time;

[0136] An information recording module is used to record the previous index information and the angular velocity and angular velocity collection time corresponding to the previous index information into the sampling window if it does not exist, and update the last update time of the sampling window to the angular velocity collection time of the previous index information.

[0137] As can be seen from the above, the vehicle sway detection device provided by the present disclosure calculates angular velocity index information and stores the angular velocity, angular velocity collection time, and corresponding index information in a sampling window, thereby enabling orderly storage of the angular velocity and angular velocity collection time. When determining that the current index information is different from the previous index information, it is also determined whether the previous index information and its corresponding angular velocity have been stored in the sampling window. If not, the previous index information and its corresponding angular velocity and angular velocity collection time are stored. This allows the received angular velocity and angular velocity collection time of the vehicle to be detected to be stored in a timely manner, reducing the possibility of storage omissions.

[0138] In one embodiment of the present disclosure, the index information calculation module includes:

[0139] The index information calculation submodule is used to calculate the index information of the first angular velocity by performing a modulo operation on the acquisition time of the first angular velocity using a preset sampling window duration to obtain current index information.

[0140] In one embodiment of the present disclosure, the index information calculation submodule is specifically configured to:

[0141] The current index information is calculated using the following formula:

[0142] Index cur =(Interger(T cur )%10+Float(T cur ))*R%(TW*R)

[0143] Among them, Indexcur is the current index information, Tcur is the acquisition time of the first angular velocity, R is the preset sampling frequency, TW is the preset sampling window length, Interger() represents taking the integer part, Float() represents taking the decimal part, and % represents the remainder operation.

[0144] In one embodiment of the present disclosure, the second angular velocity acquisition module includes:

[0145] A historical information acquisition submodule, configured to acquire, in the sampling window, historical information corresponding to the same index information as the current index information, to obtain first historical information;

[0146] a first history information determination submodule, configured to determine whether a difference between a time point at which the historical angular velocity of the first history information is collected and a time point at which the first angular velocity is collected is greater than a first preset time length and less than a second preset time length;

[0147] an angular velocity obtaining submodule, configured to use the historical angular velocity of the first historical information as a second angular velocity;

[0148] a second historical information determination submodule, configured to determine whether second historical information exists in the sampling window, if not, wherein the difference between the historical angular velocity collection time in the second historical information and the collection time of the first angular velocity is greater than a first preset time length and less than a second preset time length;

[0149] The second angular velocity obtaining submodule is configured to use the historical angular velocity in the second historical information as the second angular velocity if the second historical information exists in the sampling window.

[0150] As can be seen from the above, the vehicle swing detection device provided by the present invention first obtains the first historical information corresponding to the index information that is the same as the current index information, and determines whether the historical angular velocity collection time of the historical information is greater than the first preset time length and less than the second preset time length. If so, it means that the historical angular velocity collection time meets the requirements, and the historical angular velocity of the first historical information is used as the second angular velocity for subsequent analysis, so that the second angular velocity can be determined efficiently, thereby improving the overall efficiency of the angular velocity analysis; if the historical angular velocity collection time of the first historical information is not greater than the first preset time length and less than the second preset time length, then continue to determine the second historical information whose historical angular velocity collection time is greater than the first preset time length and less than the second preset time length, and use its historical angular velocity as the second angular velocity for subsequent analysis, so that the second angular velocity corresponding to the required time can be obtained more accurately, thereby improving the accuracy of the angular velocity analysis.

[0151] In one embodiment of the present disclosure, the second historical information determination submodule is specifically configured to:

[0152] Searching whether there is second historical information in the historical information preceding the first historical information in the sampling window;

[0153] If the second historical information does not exist in the historical information before the first historical information in the sampling window, a search is performed to determine whether the second historical information exists in the historical information after the first historical information in the sampling window.

[0154] As can be seen from the above, the vehicle swing detection device provided by the present invention first searches for whether the second historical information exists in the historical information before the first historical information in the sampling window. If not, it searches for whether the second historical information exists in the historical information after the first historical information in the sampling window, so as to ensure that the historical information stored in the sampling window can be traversed until it is determined whether there is second historical information that meets the requirements in the sampling window.

[0155] In one embodiment of the present disclosure, the second angular velocity acquisition module is further configured to:

[0156] If the second historical information does not exist in the sampling window, determining whether a difference between the last update time of the sampling window and the acquisition time of the first angular velocity is greater than a preset sampling period;

[0157] If it is greater than a preset sampling period, the first angular velocity and the acquisition time of the first angular velocity are recorded in the sampling window.

[0158] As can be seen from the above, in the vehicle swing detection device provided by the present invention, if the second historical information does not exist in the sampling window, it means that there is no need to analyze the first angular velocity at present, and then continue to judge whether the difference between the last update time of the sampling window and the collection time of the first angular velocity is greater than the preset sampling period, so as to judge whether the first angular velocity needs to be stored. If it is greater than the preset sampling period, it means that the first angular velocity needs to be stored, and then the first angular velocity and the collection time of the first angular velocity are recorded in the sampling window, so as to avoid storage omissions of the angular velocity as much as possible, and facilitate subsequent angular velocity analysis of the vehicle to be detected.

[0159] In one embodiment of the present disclosure, the angular velocity reversal detection module is specifically configured to:

[0160] When the first angular velocity and the second angular velocity are in opposite directions and the absolute value of the first angular velocity and the absolute value of the second angular velocity both exceed a preset angular velocity reversal threshold, it is determined that the angular velocity of the vehicle to be detected is reversed.

[0161] In the technical solutions disclosed herein, the collection, storage, use, processing, transmission, provision and disclosure of user personal information involved comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0162] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium, and a computer program product.

[0163] Figure 7 A schematic block diagram of an example electronic device 700 that can be used to implement embodiments of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0164] like Figure 7As shown, the device 700 includes a computing unit 701, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 702 or a computer program loaded from a storage unit 708 into a random access memory (RAM) 703. Various programs and data required for the operation of the device 700 can also be stored in the RAM 703. The computing unit 701, the ROM 702, and the RAM 703 are connected to each other via a bus 704. An input / output (I / O) interface 705 is also connected to the bus 704.

[0165] Various components in device 700 are connected to I / O interface 705, including an input unit 706, such as a keyboard, mouse, etc.; an output unit 707, such as various types of displays, speakers, etc.; a storage unit 708, such as a magnetic disk, optical disk, etc.; and a communication unit 709, such as a network card, modem, wireless communication transceiver, etc. The communication unit 709 allows device 700 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0166] The computing unit 701 can be various general-purpose and / or specialized processing components with processing and computing capabilities. Some examples of the computing unit 701 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units that run machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 701 performs the various methods and processes described above, such as the vehicle swing detection method. For example, in some embodiments, the vehicle swing detection method can be implemented as a computer software program that is tangibly contained in a machine-readable medium, such as the storage unit 708. In some embodiments, part or all of the computer program can be loaded and / or installed on the device 700 via the ROM 702 and / or the communication unit 709. When the computer program is loaded into the RAM 703 and executed by the computing unit 701, one or more steps of the vehicle swing detection method described above can be performed. Alternatively, in other embodiments, the computing unit 701 can be configured to perform the vehicle swing detection method by any other suitable means (e.g., by means of firmware).

[0167] The present disclosure also provides an autonomous vehicle, comprising any electronic device described in the present disclosure. The electronic device in the autonomous vehicle may be a control system device of the autonomous vehicle. In addition to the electronic device, the autonomous vehicle may also include sensor devices such as an angular velocity sensor, which is used to measure the angular velocity of the autonomous vehicle. The electronic device executes any vehicle swing detection method described in the present disclosure based on the angular velocity collected by the sensor device. In one example, when the electronic device determines that the autonomous vehicle is swinging, it may take measures such as deceleration or braking to reduce the harm caused by the swing.

[0168] Various embodiments of the systems and techniques described above can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0169] The program code for implementing the method of the present disclosure can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device so that when the program code is executed by the processor or controller, the functions / operations specified in the flow chart and / or block diagram are implemented. The program code can be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0170] In the context of the present disclosure, a machine-readable medium can be a tangible medium that can contain or store a program for use by or in conjunction with an instruction execution system, device or equipment. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium can include an electrical connection based on one or more lines, 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 of the foregoing.

[0171] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0172] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), and the Internet.

[0173] A computer system may include a client and a server. The client and server are generally remote from each other and typically interact through a communication network. The client-server relationship arises through computer programs running on the respective computers and having a client-server relationship with each other. The server may be a cloud server, a server in a distributed system, or a server integrated with a blockchain.

[0174] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in this disclosure can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved. This is not limited herein.

[0175] The above specific embodiments do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure shall be included within the scope of protection of this disclosure.

Claims

1. A vehicle sway detection method, comprising: Obtaining a current angular velocity of a vehicle to be detected to obtain a first angular velocity; the vehicle to be detected is an autonomous driving vehicle; Obtaining the angular velocity of the vehicle to be detected acquired before the first angular velocity to obtain a second angular velocity; determining, based on the first angular velocity and the second angular velocity, whether the angular velocity of the vehicle to be detected is reversed; If a reversal occurs, obtaining historical reversal information of the vehicle to be detected, wherein the historical reversal information includes the reversal time and reversal direction of the historical angular velocity reversal of the vehicle to be detected; If the historical reversal information includes a historical angular velocity reversal having a reversal direction opposite to the angular velocity reversal of the current vehicle to be detected and a reversal time interval less than a preset time threshold, it is determined that the vehicle to be detected has swung; Wherein, determining whether the angular velocity of the vehicle to be detected is reversed according to the first angular velocity and the second angular velocity includes: When the first angular velocity and the second angular velocity are in opposite directions and the absolute value of the first angular velocity and the absolute value of the second angular velocity both exceed a preset angular velocity reversal threshold, it is determined that the angular velocity of the vehicle to be detected is reversed.

2. The method according to claim 1, wherein obtaining the current angular velocity of the vehicle to be detected to obtain the first angular velocity comprises: receiving in real time the angular velocity of the vehicle to be detected sent by the detection device according to a preset detection frequency, and obtaining a first angular velocity; The method further comprises: Calculating index information of the first angular velocity based on a time instant of acquisition of the first angular velocity to obtain current index information; Determining whether the current index information is the same as the previous index information, wherein the previous index information is the index information of the last received angular velocity; If they are not the same, determining whether there is historical information corresponding to the previous index information in the sampling window based on the angular velocity and the angular velocity collection time corresponding to the previous index information, wherein the historical information includes the historical angular velocity and the historical angular velocity collection time; If not, the previous index information and the angular velocity and angular velocity collection time corresponding to the previous index information are recorded in the sampling window, and the last update time of the sampling window is updated to the angular velocity collection time of the previous index information.

3. The method according to claim 2, wherein: The calculating, based on the acquisition moment of the first angular velocity, index information of the first angular velocity to obtain current index information includes: The preset sampling window duration is used to calculate the index information of the first angular velocity by performing a modulo operation on the acquisition moment of the first angular velocity to obtain the current index information.

4. The method according to claim 3, wherein the calculating the index information of the first angular velocity to obtain the current index information by performing a modulo operation on the acquisition time of the first angular velocity according to a preset sampling window duration comprises: The current index information is calculated using the following formula: Index cur =(Interger(T cur )%10+Float(T cur ))*R%(TW*R) Among them, Indexcur is the current index information, T cur is the acquisition moment of the first angular velocity, R is the preset sampling frequency, TW is the preset sampling window length, Interger() represents taking the integer part, Float() represents taking the decimal part, and % represents the remainder operation.

5. The method according to claim 3, wherein The acquiring the angular velocity of the vehicle to be detected acquired before the first angular velocity to obtain the second angular velocity includes: Acquire historical information corresponding to the same index information as the current index information in the sampling window to obtain first historical information; determining whether a difference between a time point at which the historical angular velocity of the first historical information is collected and a time point at which the first angular velocity is collected is greater than a first preset time length and less than a second preset time length; If yes, then taking the historical angular velocity of the first historical information as the second angular velocity; If not, determining whether there is second historical information in the sampling window, wherein the difference between the historical angular velocity collection time in the second historical information and the collection time of the first angular velocity is greater than a first preset time length and less than a second preset time length; If the second historical information exists in the sampling window, the historical angular velocity in the second historical information is used as the second angular velocity.

6. The method according to claim 5, wherein: The determining whether the second historical information exists in the sampling window includes: Searching whether there is second historical information in the historical information preceding the first historical information in the sampling window; If the second historical information does not exist in the historical information before the first historical information in the sampling window, a search is performed to determine whether the second historical information exists in the historical information after the first historical information in the sampling window.

7. The method according to claim 5, further comprising: If the second historical information does not exist in the sampling window, determining whether a difference between the last update time of the sampling window and the acquisition time of the first angular velocity is greater than a preset sampling period; If it is greater than a preset sampling period, the first angular velocity and the acquisition time of the first angular velocity are recorded in the sampling window.

8. A vehicle sway detection device comprising: A first angular velocity acquisition module is used to acquire the current angular velocity of the vehicle to be detected to obtain a first angular velocity; The vehicle to be detected is an autonomous driving vehicle; A second angular velocity acquisition module, configured to acquire the angular velocity of the vehicle to be detected acquired before the first angular velocity to obtain a second angular velocity; an angular velocity reversal detection module, configured to determine whether the angular velocity of the vehicle to be detected is reversed based on the first angular velocity and the second angular velocity; a reversal information acquisition module, configured to acquire historical reversal information of the vehicle to be detected if a reversal occurs, wherein the historical reversal information includes a reversal time and a reversal direction of a historical angular velocity reversal of the vehicle to be detected; a swing determination module, configured to determine that the vehicle to be detected has swung if there is a historical angular velocity reversal in the historical reversal information that has a reversal direction opposite to the angular velocity reversal of the current vehicle to be detected and a reversal time interval that is less than a preset time threshold; Wherein, the angular velocity reversal detection module is specifically used to: When the first angular velocity and the second angular velocity are in opposite directions and the absolute value of the first angular velocity and the absolute value of the second angular velocity both exceed a preset angular velocity reversal threshold, it is determined that the angular velocity of the vehicle to be detected is reversed.

9. The device according to claim 8, wherein the first angular velocity acquisition module comprises: an angular velocity receiving submodule, configured to receive in real time the angular velocity of the vehicle to be detected, which is sent by the detection device at a preset detection frequency, and obtain a first angular velocity; The device further comprises: an index information calculation module, configured to calculate the index information of the first angular velocity based on the acquisition time of the first angular velocity to obtain current index information; An index information determination module, configured to determine whether current index information is the same as previous index information, wherein the previous index information is the index information of the last received angular velocity; a historical information determination module, configured to determine, if the information is not identical, whether historical information corresponding to the previous index information exists in the sampling window based on the angular velocity and the angular velocity collection time corresponding to the previous index information, wherein the historical information includes the historical angular velocity and the historical angular velocity collection time; An information recording module is used to record the previous index information and the angular velocity and angular velocity collection time corresponding to the previous index information into the sampling window if it does not exist, and update the last update time of the sampling window to the angular velocity collection time of the previous index information.

10. The device according to claim 9, wherein The index information calculation module includes: The index information calculation submodule is used to calculate the index information of the first angular velocity by performing a modulo operation on the acquisition time of the first angular velocity using a preset sampling window duration to obtain current index information.

11. The apparatus according to claim 10, wherein the index information calculation submodule is specifically configured to: The current index information is calculated using the following formula: Index cur =(Interger(T cur )%10+Float(T cur ))*R%(TW*R) in, Indexcur is the current index information, Tcur is the acquisition time of the first angular velocity, R is the preset sampling frequency, TW is the preset sampling window length, Interger() represents taking the integer part, Float() represents taking the decimal part, and % represents the remainder operation.

12. The device according to claim 10, wherein The second angular velocity acquisition module includes: A historical information acquisition submodule, configured to acquire, in the sampling window, historical information corresponding to the same index information as the current index information, to obtain first historical information; a first history information determination submodule, configured to determine whether a difference between a time point at which the historical angular velocity of the first history information is collected and a time point at which the first angular velocity is collected is greater than a first preset time length and less than a second preset time length; an angular velocity obtaining submodule, configured to use the historical angular velocity of the first historical information as a second angular velocity; a second historical information determination submodule, configured to determine whether second historical information exists in the sampling window, if not, wherein the difference between the historical angular velocity collection time in the second historical information and the collection time of the first angular velocity is greater than a first preset time length and less than a second preset time length; The second angular velocity obtaining submodule is configured to use the historical angular velocity in the second historical information as the second angular velocity if the second historical information exists in the sampling window.

13. The device according to claim 12, wherein The second historical information judgment submodule is specifically used to: Searching whether there is second historical information in the historical information preceding the first historical information in the sampling window; If the second historical information does not exist in the historical information before the first historical information in the sampling window, a search is performed to determine whether the second historical information exists in the historical information after the first historical information in the sampling window.

14. The device according to claim 12, wherein the second angular velocity acquisition module is further configured to: If the second historical information does not exist in the sampling window, determining whether a difference between the last update time of the sampling window and the acquisition time of the first angular velocity is greater than a preset sampling period; If it is greater than a preset sampling period, the first angular velocity and the acquisition time of the first angular velocity are recorded in the sampling window.

15. An electronic device comprising: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 7.

16. A non-transitory computer-readable storage medium storing computer instructions, wherein: The computer instructions are used to cause the computer to execute the method according to any one of claims 1 to 7.

17. A computer program product comprising a computer program, which, when executed by a processor, implements the method according to any one of claims 1 to 7.

18. An autonomous driving vehicle comprising the electronic device according to claim 15.

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