Assisted driving method, fusion perception system, computer device and storage medium

Abstract

The present application relates to an assisted driving method, a fusion perception system, a computer device, and a storage medium. The method includes: obtaining road reference information and receiving the high beam usage status of a target vehicle. When the high beam of the target vehicle is on, determining based on the road reference information whether there is an oncoming traffic participant traveling in the same direction as the target vehicle and whose distance to the target vehicle is less than or equal to a preset distance threshold, and if there is an oncoming traffic participant located on the same road section as the target vehicle, generating an alarm prompt to remind the driver to turn off or adjust the high beam of the target vehicle in time to avoid interfering with the oncoming traffic participant, thereby reducing the occurrence of traffic accidents.

Description

Technical Field

[0001] The present application relates to the field of vehicle networking technology, and in particular to an assisted driving method, a fusion perception system, a computer device, and a storage medium. Background Art

[0002] High beams can expand the field of vision. In low-light conditions, turning on high beams can help drivers better observe road conditions and ensure safe driving.

[0003] In actual applications, when driving at night, drivers generally turn on the high beam in areas with poor lighting conditions and turn off the high beam in areas with good lighting conditions to avoid interfering with traffic participants traveling in the opposite direction by turning on the high beam for a long time.

[0004] However, when a vehicle is driving, the driver often forgets to turn off the high beam in time, thereby interfering with oncoming traffic participants and causing traffic accidents. Summary of the Invention

[0005] Based on this, it is necessary to provide an assisted driving method, a fusion perception system, a computer device and a storage medium to address the above technical problems.

[0006] An assisted driving method, comprising:

[0007] Obtaining road reference information and receiving the high beam usage status of the target vehicle; wherein the road reference information includes status information of each traffic participant on the target road covered by the fusion perception system and map information of the target road, and the status information includes the position and movement parameters of each traffic participant;

[0008] When the high beam of the target vehicle is on, determining based on the road reference information whether there is an oncoming traffic participant on the target road that is at a distance less than or equal to a preset distance threshold from the target vehicle and is located on the same road section as the target vehicle;

[0009] If there is an oncoming traffic participant, an alarm prompt is generated and sent to the target vehicle; wherein the alarm prompt is used to remind the driver to turn off the high beam of the target vehicle.

[0010] In one embodiment, the target road includes multiple road sections, and determining, based on the road reference information, whether there is an oncoming traffic participant on the target road whose distance to the target traffic participant is less than or equal to a preset distance threshold and is located on the same road section as the target vehicle and traveling in the opposite direction includes:

[0011] Determine, based on the road reference information, a first candidate traffic participant on the target road that is located in the same road section as the target vehicle;

[0012] Determine a second candidate traffic participant traveling in an opposite direction from the target vehicle from the first candidate traffic participant;

[0013] An opposite traffic participant whose distance to the target vehicle is less than or equal to a preset distance threshold is determined from the second candidate traffic participant objects.

[0014] In one embodiment, determining a first candidate traffic participant on a target road that is located in the same road section as the target vehicle based on the road reference information includes:

[0015] Determine the road section where the target vehicle is located based on the position of the target vehicle in the map information and the road reference information;

[0016] Determine the road section where other traffic participants are located based on the positions of other traffic participants in the map information and road reference information;

[0017] A first candidate traffic participant that is located in the same road section as the target vehicle is determined according to the road section where the target vehicle is located and the road sections where other traffic participants are located.

[0018] In one embodiment, each road segment includes two nodes, and determining the road segment where the target vehicle is located based on the position of the target vehicle in the map information and the road reference information includes:

[0019] Extracting the position of the target vehicle from the road reference information;

[0020] Determine a node set according to the two nodes included in each road section, and determine any two nodes in the node set as a first candidate node pair;

[0021] Obtaining a first distance value and a second distance value corresponding to the square of the distances from the target vehicle to the two nodes in the first candidate node pair, and a third distance value corresponding to the square of the distance between the two nodes in the first candidate node pair, and determining whether the sum of the first distance value and the third distance value is greater than or equal to the second distance value or whether the sum of the second distance value and the third distance value is greater than or equal to the first distance value; if so, determining the first candidate node pair as the second candidate node pair;

[0022] Calculating a vertical distance from the target vehicle to a node line formed by two nodes in the second candidate node pair, and determining the second candidate node pair whose vertical distance is less than a preset road section width as a third candidate node pair;

[0023] The road section where the target vehicle is located is determined according to the direction angle of the node connection line formed by two nodes in the third candidate node pair and the direction angle of the target vehicle.

[0024] In one embodiment, determining the road section where the target vehicle is located based on the direction angle of the node line formed by two nodes in the third candidate node pair and the direction angle of the target vehicle includes:

[0025] Performing a weighted operation on the direction angle of the node connection formed by the two nodes in the third candidate node pair and the heading angle of the target vehicle to obtain a weighted result;

[0026] The road section corresponding to the third candidate node pair corresponding to the minimum weighted result is determined as the road section where the target vehicle is located.

[0027] In one embodiment, determining a second candidate traffic participant traveling in the opposite direction of the target vehicle from the first candidate traffic participants includes:

[0028] According to the moving direction and position of the target vehicle, a positioning coordinate system is constructed with the position of the target vehicle as the origin and the moving direction of the target vehicle as the vertical axis;

[0029] Determine a fourth candidate traffic participant located ahead of the target vehicle in the moving direction according to the positions and positioning coordinate systems of the first candidate traffic participant objects;

[0030] A second candidate traffic participant traveling in an opposite direction to the target vehicle is determined from the fourth candidate traffic participant.

[0031] In one embodiment, determining a second candidate traffic participant traveling in the opposite direction of the target vehicle from the fourth candidate traffic participant includes:

[0032] Determine the upstream node and downstream node of the road section where the target vehicle is located according to the moving direction of the target vehicle;

[0033] Determine an upstream node and a downstream node of the fourth candidate traffic participant on the road section according to the moving direction of the fourth candidate traffic participant;

[0034] A second candidate traffic participant traveling in the opposite direction to the target vehicle is determined based on the upstream node and downstream node of the road section where the target vehicle is located and the upstream node and downstream node of the fourth candidate traffic participant on the road section.

[0035] In one embodiment, determining an oncoming traffic participant from the second candidate traffic participants whose distance to the target vehicle is less than or equal to a preset distance threshold includes:

[0036] Calculating a travel distance of the second candidate traffic participant within the preset time delay based on the acceleration and speed of the second candidate traffic participant and the preset time delay;

[0037] Determine the real-time location of the second candidate traffic participant according to the location and movement distance of the second candidate traffic participant;

[0038] Determining a real-time distance between the second candidate traffic participant and the target vehicle based on the real-time position of the second candidate traffic participant and the real-time position of the target vehicle;

[0039] A second candidate traffic participant whose real-time distance to the target vehicle is less than or equal to a preset distance threshold is determined as the oncoming traffic participant.

[0040] A fusion perception system, comprising:

[0041] An information acquisition module, configured to acquire road reference information and receive the high-beam usage status of a target vehicle; wherein the road reference information includes status information of each traffic participant on the target road covered by the fusion perception system and map information of the target road; the status information includes the position and movement parameters of each traffic participant;

[0042] an object determination module, configured to determine, based on the road reference information, whether there is an oncoming traffic participant on the target road, with the target vehicle's high beam on, and the vehicle's distance from the target vehicle being less than or equal to a preset distance threshold, and the vehicle being located on the same road section as the target vehicle and traveling in the opposite direction;

[0043] The warning prompt module is used to generate a warning prompt when there are oncoming traffic participants and send the warning prompt to the target vehicle; wherein the warning prompt is used to remind the driver to turn off the high beam of the target vehicle.

[0044] The above-mentioned assisted driving method, fusion perception system, computer equipment and storage medium obtain road reference information and receive the high beam usage status of the target vehicle. When the high beam of the target vehicle is turned on, it is determined based on the road reference information whether there is an oncoming traffic participant traveling in the same direction as the target vehicle on the target road whose distance is less than or equal to a preset distance threshold. If there is an oncoming traffic participant located on the same road section as the target vehicle, an alarm prompt is generated to remind the driver to turn off the high beam of the target vehicle, so as to remind the driver to turn off or adjust the high beam of the target vehicle in time to avoid interfering with the oncoming traffic participants, thereby reducing the occurrence of traffic accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 A schematic diagram of an application scenario of an assisted driving method in an embodiment;

[0046] Figure 2 1 is a flow chart of an assisted driving method according to an embodiment;

[0047] Figure 31 is a flow chart of a method for determining oncoming traffic participants in one embodiment;

[0048] Figure 4 A schematic diagram of a process for determining a first candidate traffic participant in one embodiment;

[0049] Figure 5 Schematic diagram of road section m in one embodiment;

[0050] Figure 6 A schematic diagram of a process for determining a second candidate traffic participant in one embodiment;

[0051] Figure 7 is a schematic diagram of a road section MN in one embodiment;

[0052] Figure 8 A schematic diagram of a process for determining oncoming traffic participants in one embodiment;

[0053] Figure 9 is a structural block diagram of a fusion perception system in one embodiment;

[0054] Figure 10 FIG. 1 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0055] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0056] With the development of science and technology and the continuous improvement of people's living standards, cars have become the main means of transportation for people. When driving on roads with poor lighting conditions, people generally turn on the high beams of their vehicles. High beams can expand the field of vision, help drivers better observe road conditions, and ensure safe driving.

[0057] Correct use of high beams is the basis for safe driving. When driving at night, if your vehicle turns on the high beams but fails to turn them off in time, it will cause serious blind spots for oncoming traffic at close range, leading to traffic accidents.

[0058] To address the above-mentioned issues, the present application proposes an assisted driving method, which is applied to a fusion perception system installed on the roadside. The fusion perception system perceives traffic participants, obtains road reference information, and receives target vehicle status information sent by a target vehicle equipped with an onboard V2X communication terminal based on V2X (vehicle to everything) technology. Combined with the road reference information, the method determines the oncoming traffic participants whose distance from the target vehicle is less than or equal to a preset distance threshold and are located on the same road section as the target vehicle and traveling in the opposite direction. Furthermore, if the oncoming traffic participant is determined, an alarm is generated and sent to the target vehicle to prompt the target vehicle to adjust its driving parameters. For example, if the oncoming traffic participant is determined to exist, and the target vehicle's status information includes the target vehicle's high beam being turned on, the fusion perception system generates an alarm prompting the driver to turn off the target vehicle's high beam or to adjust the target vehicle's high beam driving parameter to avoid interference with the oncoming traffic participant and reduce the occurrence of traffic accidents.

[0059] The method of this embodiment can serve relatively vulnerable traffic participants, such as vehicles and pedestrians without vehicle-side V2X communication terminals. When these relatively vulnerable traffic participants cannot use V2X technology to directly exchange information with a target vehicle with a vehicle-side V2X communication terminal, the fusion perception system replaces the vehicle-side V2X communication terminal to obtain status information of these relatively vulnerable traffic participants and inform the target vehicle of its current driving status affecting other relatively vulnerable traffic participants, allowing the target vehicle's driver to promptly adjust high beams or other driving parameters. Therefore, the method of this embodiment can create a more harmonious traffic environment and improve traffic safety.

[0060] Below, the application scenarios involved in the assisted driving method provided in the embodiments of the present application will be briefly described.

[0061] The assisted driving method provided in this application can be applied to Figure 1In the application scenario shown. Among them, the target vehicle 101 communicates with the fusion perception system (also known as smart base station) 102 through the set communication unit 103. Traffic participants are all objects related to road activities / traffic activities, such as pedestrians, roadside equipment, non-motorized vehicles, etc. The target vehicle and the fusion perception system can communicate through V2X / 5G / 4G technology to realize data transmission. The fusion perception system includes one or more sensing devices such as high-definition cameras, lidars, and millimeter-wave radars, which can process the perception information collected by these sensing devices to obtain perception results. The perception result may include targets within the coverage range of the device, and one or more of the target's color, position, speed, distance, acceleration, and steering angle. Optionally, the fusion perception system is installed on the side of the road.

[0062] In one embodiment, an assisted driving method is provided. It should be noted that the steps of the method of this embodiment can be executed by the vehicle-side onboard computing unit, or by the fusion perception system / edge server on the road side, or by the cloud server, or even by a combination system of vehicle-side, cloud-side and road-side computing devices. The specific task allocation in this method can be flexibly set based on demand, and this application does not limit it. Optionally, the perception device can be a vehicle-side perception device, for example, at least one of a millimeter-wave radar sensor, a lidar sensor and a camera provided on the vehicle. It should be noted that in the following embodiments, the candidate traffic participant can be a vehicle, and in other application scenarios, it can be adaptively replaced by relatively weak traffic participants such as pedestrians and non-motorized vehicles. In this application, whether the relatively weak traffic participant is a vehicle or other type of traffic participant is not specifically limited except for necessary explanations.

[0063] like Figure 2 As shown, this method is applied to Figure 1 The fusion perception system shown in the figure is used as an example to illustrate the following steps:

[0064] S210: Acquire road reference information and receive the high beam usage status of the target vehicle.

[0065] Among them, the road reference information includes the status information of each traffic participant (including the target vehicle) in the target road covered by the fusion perception system and the map information of the target road. The status information includes the position and movement parameters of each traffic participant.

[0066] Optionally, the position of the traffic participant object can be represented by longitude data and latitude data, and the movement parameter of the traffic participant object includes at least one of movement speed, acceleration and movement direction.

[0067] Optionally, the fusion perception system includes a lidar and a roadside V2X communication terminal. The roadside V2X communication terminal communicates with the vehicle-side V2X communication terminal in the target vehicle. The roadside V2X communication terminal is connected to the lidar via a network port (TCP (C / S), UDP). The fusion perception system obtains status information of each traffic participant on the covered target road through the lidar, extracts pre-stored map information of the target road, and receives the high beam usage status broadcasted by the vehicle-side V2X communication terminal in the target vehicle, which carries the target vehicle's vehicle identification. The system then matches and locates the corresponding target vehicle's status information within the status information of each traffic participant perceived by the fusion perception system based on the target vehicle's vehicle identification. The target vehicle obtains the target vehicle's high beam usage status through an in-vehicle CAN module and broadcasts the high beam usage status, which carries the target vehicle's vehicle identification, to the fusion perception system via the on-board V2X communication terminal.

[0068] S220. When the high beam of the target vehicle is on, determine based on the road reference information whether there is an oncoming traffic participant on the target road that is at a distance less than or equal to a preset distance threshold from the target vehicle and is located on the same road section as the target vehicle and is traveling in the opposite direction.

[0069] Specifically, the road reference information may include status information for multiple traffic participants. The fusion perception system receives the target vehicle's high-beam status and, if the target vehicle's high-beam is on, determines based on the road reference information whether there are oncoming traffic participants on the target road that are within a preset distance threshold from the target vehicle and located on the same road section as the target vehicle and traveling in the opposite direction. If the target vehicle's high-beam is not on, the subsequent process of determining oncoming traffic participants is unnecessary.

[0070] Optionally, the fusion perception system may determine, based on the position of the target vehicle in the road reference information and the positions of other traffic participants other than the target vehicle, a first candidate traffic participant among other traffic participants whose distance from the target vehicle is within a preset distance threshold. For example, the road reference information includes the positions of the target vehicle A and other traffic participants A1 to A5. The fusion perception system obtains the distances between the other traffic participants A1 to A5 and the target vehicle A, and obtains corresponding distances L1 to L5. It then determines whether distances L1 to L5 are less than a preset distance threshold L (e.g., 200m). If L1, L4, and L5 are less than L, the fusion perception system determines that the other traffic participants A1, A4, and A5 corresponding to L1, L4, and L5, respectively, are the first candidate traffic participants.

[0071] Optionally, the fusion perception system may determine, from the first candidate traffic participants, a second candidate traffic participant that is located in the same road section as the target vehicle based on the positional relationship between the position of the target vehicle and the position of the first candidate traffic participant in the road reference information and the preset road section area. For example, if the map information of the target road includes the preset road section area, the fusion perception system matches the position of the target vehicle A and the first candidate traffic participants A1, A4, and A5 with each of the preset road section areas, determines the preset road section area to which the target vehicle A and each of the first candidate traffic participants A1, A4, and A5 belong, and determines that the target vehicle A belongs to road section 1, and the first candidate traffic participants A1, A4, and A5 belong to road sections 1, road section 2, and road section 1, respectively. The fusion perception system then determines that the first candidate traffic participants A1 and A5, which belong to the same road section 1 as the target vehicle A, are the second candidate traffic participants.

[0072] Optionally, the fusion perception system may determine, based on the target vehicle's movement direction in the road reference information and the movement direction of the second candidate traffic participants, an opposing traffic participant from the second candidate traffic participants that is moving in the opposite direction of the target vehicle's movement. For example, if the target vehicle A's movement direction in the road reference information is from west to east, the corresponding movement direction of the second candidate traffic participant A1 is from east to west, and the corresponding movement direction of the second candidate traffic participant A5 is from south to north, the fusion perception system will determine that the second candidate traffic participant A1, whose corresponding movement direction is from east to west, is the final opposing traffic participant.

[0073] S230: If there is an oncoming traffic participant, generate an alarm and send the alarm to the target vehicle.

[0074] Among them, the warning prompt is used to remind the driver to turn off the high beam of the target vehicle.

[0075] Specifically, after the above-mentioned rounds of candidate screening, if it is determined that there are oncoming traffic participants, the fusion perception system generates an alarm prompt and sends the alarm prompt to the target vehicle to remind the driver to manually turn off the high beam of the target vehicle.

[0076] In this embodiment, the fusion perception system obtains road reference information and receives the high beam usage status of the target vehicle. When the high beam of the target vehicle is on, it determines whether there is a traffic participant in the target road whose distance to the target vehicle is less than or equal to a preset distance threshold based on the status information of each traffic participant in the road reference information and the map information of the target road. In addition, if there is an oncoming traffic participant traveling in the same direction as the target vehicle and located on the same road section, an alarm prompt is generated to remind the driver to manually turn off the high beam of the target vehicle, so as to remind the driver to turn off or adjust the high beam of the target vehicle in time, so as to avoid interfering with the oncoming traffic participant by not turning off the high beam in time, thereby reducing the occurrence of traffic accidents.

[0077] In one embodiment, to improve the efficiency of determining the oncoming traffic participants, the above S220 includes:

[0078] S310: Determine, based on the road reference information, a first candidate traffic participant on the target road that is located in the same road section as the target vehicle.

[0079] Specifically, the fusion perception system can determine, from the other traffic participants included in the road reference information, a first candidate traffic participant that is located in the same road section as the target vehicle based on the positional relationship between the position of the target vehicle and the positions of other traffic participants other than the target vehicle in the road reference information and the preset road section area. For example, if the map information of the target road includes a preset road section area, the fusion perception system will positionally match the positions of the target vehicle B and other traffic participants B1 to B5 in the road reference information with the preset road section area, and determine that the target vehicle belongs to road section 2, and that the other traffic participants B1 to B5 belong to road sections 2, 2, 1, 3, and 2, respectively. The fusion perception system then determines that the other traffic participants B1, B2, and B5 that belong to the same road section 2 as the target vehicle B are the first candidate traffic participants.

[0080] S320: Determine a second candidate traffic participant traveling in the opposite direction to the target vehicle from the first candidate traffic participants.

[0081] Specifically, the fusion perception system can identify, from the first candidate traffic participants, traffic participants moving in the opposite direction of the target vehicle based on the target vehicle's direction of movement in the road reference information and the direction of movement of the first candidate traffic participants. For example, if the target vehicle B in the road reference information is moving from west to east, and the first candidate traffic participants B1 and B5 are moving from east to west, and B2 is moving from west to east, the fusion perception system will identify the first candidate traffic participants B1 and B5, whose corresponding directions are moving from east to west, as second candidate traffic participants.

[0082] S330: Determine, from the second candidate traffic participants, an opposite traffic participant whose distance to the target vehicle is less than or equal to a preset distance threshold.

[0083] Specifically, the fusion perception system can identify, based on the position of the target vehicle and the position of the second candidate traffic participants in the road reference information, oncoming traffic participants from the second candidate traffic participants whose distance from the target vehicle is less than or equal to a preset distance threshold. For example, the fusion perception system obtains the distances between the second candidate traffic participants B1 and B5 and the target vehicle B, respectively, and obtains corresponding distances s1 and s5. It then determines whether distances s1 and s5 are less than or equal to a preset distance threshold s (e.g., 200m). If s1 < s and s5 > s, the fusion perception system determines that the second candidate traffic participant B5 corresponding to s5 is the final oncoming traffic participant.

[0084] In real-time applications, there are a large number of traffic participants on the road. In this embodiment, the fusion perception system pre-acquires the first candidate traffic participant on the same road section as the target vehicle, which greatly reduces the amount of raw data for subsequent screening and determination. The second candidate traffic participant traveling in the opposite direction of the target vehicle is further screened and determined among the first candidate traffic participants, and then the final opposite traffic participant whose distance to the target vehicle is less than or equal to the preset distance threshold is screened and determined among the second candidate traffic participants, thereby improving the efficiency of determining the opposite traffic participant.

[0085] In one embodiment, in order to improve the accuracy of determining the first candidate traffic participant, Figure 4 As shown, the above S310 includes:

[0086] S410: Determine the road section where the target vehicle is located according to the position of the target vehicle in the map information and the road reference information.

[0087] Each road section includes two nodes, one at each end of the road section. Optionally, the two nodes on each road section are located on the same side of the road section. The map information includes the location of each node. The fusion perception system can determine the road section where the target vehicle is located based on the positional relationship between the nodes in the road section and the target vehicle.

[0088] Specifically, the fusion perception system extracts the target vehicle's location from the road reference information based on its vehicle identification, obtains the locations of nodes for all road sections in the map information, and obtains a node set. Any two nodes in the node set are identified as first candidate node pairs. When the target road section includes multiple road sections, multiple sets of first candidate node pairs are included. For example, if the node set includes the locations of nodes C1 to C5, and any two nodes are selected as first candidate node pairs, 10 sets of first candidate node pairs can be identified. For example, nodes C1 and C5 can be identified as the first candidate node pair.

[0089] like Figure 5 As shown, a road segment includes nodes C1 and C5, with the line between nodes C1 and C5 as the edge and a preset width as the width, forming a rectangular road segment m. C is the target vehicle. The fusion perception system obtains the square of the distance from the target vehicle C to node C1 as the first distance value P1, the square of the distance from the target vehicle C to node C5 as the second distance value P2, and the square of the distance between nodes C1 and C5 in the first candidate node pair as the third distance value P3. The fusion perception system then determines whether the sum of the first and third distance values ​​is greater than or equal to the second distance value, or whether the sum of the second and third distance values ​​is greater than or equal to the first distance value, that is, whether P1+P3 is greater than P2, or whether P2+P3 is greater than P1.

[0090] If P1+P3>P2, or P2+P3>P1, the fusion perception system determines the first candidate node pair as the second candidate node pair. For example, the target road includes five first candidate node pairs, three of which meet the distance judgment of P1+P3>P2 or P2+P3>P1. The target vehicle determines three of the five first candidate node pairs as the second candidate node pairs.

[0091] The fusion perception system further calculates the vertical distance from the target vehicle to the node line formed by two nodes in the second candidate node pair, and determines the second candidate node pair whose vertical distance is less than the preset road section width as the third candidate node pair. For example, the above-mentioned second candidate node pairs include nodes C1 and C5, nodes C2 and C10, and nodes C4 and C7. The fusion perception system calculates the vertical distance H1 from the position of the target vehicle C itself to the node line between nodes C1 and C5, the vertical distance H2 from the position of the target vehicle C itself to the node line between nodes C2 and C10, and the vertical distance H3 from the position of the target vehicle C itself to the node line between nodes C4 and C7. Comparing H1, H2, and H3 with the preset road section width H, it is determined that H1>H, H2<H, and H3<H. Then, the second candidate node pairs of nodes C2 and C10, and nodes C4 and C7 are determined as the third candidate node pairs.

[0092] Finally, the fusion perception system determines the road section where the target vehicle is located based on the direction angle of the node line formed by the two nodes in the third candidate node pair and the direction angle of the target vehicle. Specifically, the target vehicle performs a weighted operation on the direction angle between the node line formed by the two nodes in the third candidate node pair and the true north direction and the heading angle of the target vehicle to obtain a weighted result, and determines the road section corresponding to the third candidate node pair corresponding to the minimum weighted result as the road section where the target vehicle is located. For example, after the weighted calculation of the above angles, the weighted result of the direction angle between the node line formed by node C4 and node C7 and the true north direction and the heading angle of the target vehicle is the smallest, and the fusion perception system determines the road section corresponding to the third candidate node pair node C4 and node C7 as the road section where the target vehicle is located.

[0093] S420: Determine the road section where the other traffic participant objects are located according to the positions of the other traffic participant objects in the map information and the road reference information.

[0094] Similarly, the road sections where other traffic participants except the target vehicle are located are determined by referring to the method of determining the road section where the target vehicle is located in S410.

[0095] S430. Determine a first candidate traffic participant located in the same road section as the target vehicle based on the road section where the target vehicle is located and the road sections where other traffic participants are located.

[0096] Specifically, the fusion perception system determines, among other traffic participants, a traffic participant that is on the same road section as the target vehicle as a first candidate traffic participant.

[0097] In this embodiment, the fusion perception system accurately determines the road section where the target vehicle is located, as well as the road section where other traffic participants are located, based on the positional relationship between the target vehicle and the nodes on the road section in the map information, as well as the positional relationship between other traffic participants and the nodes on the road section, thereby improving the accuracy of determining the first candidate traffic participant.

[0098] In one embodiment, in order to improve the accuracy of determining the second candidate traffic participant, Figure 6 As shown, the above S320 includes:

[0099] S610: Construct a positioning coordinate system based on the moving direction and position of the target vehicle, with the position of the target vehicle as the origin and the moving direction of the target vehicle as the vertical axis.

[0100] S620: Determine a fourth candidate traffic participant located ahead of the target vehicle in the moving direction according to the positions of the first candidate traffic participant objects and the positioning coordinate system.

[0101] Specifically, the fusion perception system extracts the target vehicle's moving direction and position from the road reference information, constructs a positioning coordinate system with the target vehicle's position as the origin and the moving direction as the vertical axis, and transforms the position of the first candidate traffic participant into the positioning coordinate system. The system then determines, among the first candidate traffic participants, a fourth candidate traffic participant located ahead of the target vehicle's moving direction. For example, the fusion perception system constructs a positioning coordinate system with the target vehicle's position as the origin and the target vehicle's moving direction as the positive vertical axis, and determines whether the vertical axis of the position of the first candidate traffic participant transformed into the positioning coordinate system is positive. If so, the system determines that the first candidate traffic participant is located ahead of the target vehicle's moving direction, i.e., the fourth candidate traffic participant.

[0102] S630: Determine a second candidate traffic participant traveling in an opposite direction to the target vehicle from the fourth candidate traffic participants.

[0103] Specifically, the fusion perception system further extracts the moving direction of the fourth candidate traffic participant from the road reference information to determine the second candidate traffic participant from the fourth candidate traffic participant, which is traveling in the opposite direction of the target vehicle, that is, in the opposite direction of the target vehicle.

[0104] Optionally, the fusion perception system determines the upstream node and downstream node of the road section where the target vehicle is located according to the moving direction of the target vehicle. Figure 7 As shown in the figure, the target vehicle D is located on the road section MN and moves from west to east. For the target vehicle D, node M is the upstream node and node N is the downstream node. Then, the fusion perception system determines the upstream node and downstream node of the road section where the fourth candidate traffic participant is located based on the moving direction of the fourth candidate traffic participant. Figure 7 As shown, the fourth candidate traffic participant D1 is located on road segment MN, moving from east to southwest. For fourth candidate traffic participant D1, node N is the upstream node, and node M is the downstream node. Finally, the fusion perception system determines the second candidate traffic participant traveling in the opposite direction of the target vehicle based on the upstream and downstream nodes of the target vehicle's road segment and the upstream and downstream nodes of the fourth candidate traffic participant's road segment.

[0105] Specifically, whether the target vehicle and the fourth candidate traffic participant are traveling in opposite directions can be determined based on whether the upstream node and downstream node of the road section where the target vehicle is located are opposite to the upstream node and downstream node of the fourth candidate traffic participant in the road section. Figure 7For the target vehicle D and the fourth candidate traffic participant D1, which are also located on the road section MN, the node M is determined to be the upstream node and the node N is the downstream node according to the moving direction of the target vehicle D, while the node M is determined to be the downstream node and the node N is the upstream node according to the moving direction of the fourth candidate traffic participant D1. It can be seen that the upstream node and downstream node of the road section MN where the target vehicle D is located are exactly opposite to the upstream node and downstream node of the fourth candidate traffic participant D1 in the road section MN. The target vehicle D can determine that the fourth candidate traffic participant D1 is the second candidate vehicle traveling in the opposite direction to the target vehicle D.

[0106] In this embodiment, the fusion perception system constructs a positioning coordinate system with the position of the target vehicle as the origin and the moving direction of the target vehicle as the vertical axis according to the moving direction and position of the target vehicle, and converts the position of the first candidate traffic participant into the positioning coordinate system, thereby determining the fourth candidate traffic participant located in front of the moving direction of the target vehicle, and then determining the upstream and downstream nodes of the road section where the target vehicle is located in combination with the moving direction of the target vehicle, and determining the upstream and downstream nodes of the fourth candidate traffic participant on the road section based on the moving direction of the fourth candidate traffic participant. In this way, when the moving direction is refined, the second candidate vehicle traveling in the opposite direction of the target vehicle can be determined among the fourth candidate traffic participant based on the upstream and downstream nodes of the road section, thereby improving the accuracy of determining the second candidate vehicle.

[0107] In one embodiment, in order to improve the accuracy of determining the oncoming traffic participants, Figure 8 As shown, the above S330 includes:

[0108] S810: Calculate a moving distance of the second candidate traffic participant within the preset time delay based on the acceleration and speed of the second candidate traffic participant and the preset time delay.

[0109] Specifically, the fusion perception system extracts the moving speed and acceleration of the second candidate traffic participant from the road reference information, and uses the displacement acceleration formula S = V0t + 1 / 2at 2 , calculate the distance the second candidate traffic participant moves within the preset time delay. Here, t is the preset time delay, i.e., the time required for the road reference information to be transmitted to the target vehicle, V0 is the moving speed of the candidate traffic participant, and a is the acceleration of the candidate traffic participant.

[0110] S820: Determine the real-time position of the second candidate traffic participant according to the position and movement distance of the second candidate traffic participant.

[0111] Specifically, the fusion perception system adds the obtained position of the second candidate traffic participant object to the moving distance of the second candidate traffic participant object within a preset time delay to obtain the real-time position of the second candidate traffic participant object.

[0112] S830: Determine the real-time distance between the second candidate traffic participant and the target vehicle according to the real-time position of the second candidate traffic participant and the real-time position of the target vehicle.

[0113] S840: Determine a second candidate traffic participant whose real-time distance to the target traffic participant is less than or equal to a preset distance threshold as an oncoming traffic participant.

[0114] In actual applications, the target vehicle's high beams will only interfere with the oncoming traffic participant when the distance between the oncoming traffic participant and the target vehicle is within a preset distance threshold. If the distance between the oncoming traffic participant and the target vehicle is greater than the preset distance threshold, the target vehicle's high beams will not interfere with the oncoming traffic participant. Therefore, when determining the oncoming traffic participant, it is necessary to determine whether the distance to the target vehicle is less than or equal to the preset distance threshold. Specifically, the fusion perception system obtains the real-time distance between the real-time position of the second candidate traffic participant and the real-time position of the target vehicle, compares each real-time distance with the preset distance threshold, and determines the second candidate traffic participant whose real-time distance is less than or equal to the preset distance threshold as the oncoming traffic participant. For example, after the above screening, three second candidate traffic participants E1~E3 are obtained. Taking into account the above preset delay, the real-time distances S1~S3 between the second candidate traffic participants E1~E3 and the target vehicle E are calculated respectively. After comparing the real-time distances S1~S3 with the preset distance threshold S, it is obtained that S1<S, S2<S, S3>S. The fusion perception system finally determines that the second candidate traffic participants E1 and E2 corresponding to the real-time distances S1 and S2 are opposite traffic participants.

[0115] In this embodiment, the fusion perception system calculates the moving distance of the second candidate traffic participant within the preset time delay based on the acceleration and speed of the second candidate traffic participant and the preset time delay, and then determines the real-time distance between the second candidate traffic participant and the target vehicle based on the real-time position of the second candidate traffic participant and the real-time position of the target vehicle, and determines the second candidate traffic participant whose real-time distance to the target traffic participant is less than or equal to the preset distance threshold as the opposite traffic participant, so as to improve the accuracy of calculating the real-time distance between the second candidate traffic participant and the target vehicle while taking into account the transmission delay of the road reference information, thereby improving the accuracy of determining the second candidate vehicle.

[0116] It should be understood that although Figure 2-Figure 8The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. In addition, Figure 2-Figure 8 At least part of the steps may include multiple steps or multiple stages. These steps or stages are not necessarily performed at the same time, but can be performed at different times. The order of execution of these steps or stages is not necessarily one by one, but can be performed in turn or alternately with other steps or at least part of the steps or stages in other steps.

[0117] In one embodiment, Figure 9 As shown, a fusion perception system is provided, including: an information acquisition module 901, an object determination module 902, and an alarm prompt module 903;

[0118] The information acquisition module 901 is used to obtain road reference information and receive the high beam usage status of the target vehicle. The road reference information includes the status information of each traffic participant on the target road covered by the fusion perception system and the map information of the target road. The status information includes the position and movement parameters of each traffic participant.

[0119] The object determination module 902 is configured to determine, based on the road reference information, whether there is an oncoming traffic participant on the target road that is less than or equal to a preset distance threshold from the target vehicle and is located on the same road section as the target vehicle and is traveling in the opposite direction, when the target vehicle's high beam is on.

[0120] The warning prompt module 903 is used to generate a warning prompt and send it to the target vehicle when there is an oncoming traffic participant; wherein the warning prompt is used to remind the driver to turn off the high beam of the target vehicle.

[0121] In one embodiment, the target road includes multiple road segments, and the object determination module 902 is specifically configured to:

[0122] A first candidate traffic participant on the target road that is located in the same section as the target vehicle is determined based on the road reference information; a second candidate traffic participant traveling in the opposite direction of the target vehicle is determined from the first candidate traffic participant; and an opposite traffic participant whose distance to the target vehicle is less than or equal to a preset distance threshold is determined from the second candidate traffic participant.

[0123] In one embodiment, the object determination module 902 is specifically configured to:

[0124] Determine the road section where the target vehicle is located based on the position of the target vehicle in the map information and road reference information; determine the road section where other traffic participants are located based on the positions of other traffic participants in the map information and road reference information; and determine the first candidate traffic participant that is in the same road section as the target vehicle based on the road section where the target vehicle is located and the road section where the other traffic participants are located.

[0125] In one embodiment, each road segment includes two nodes, and the object determination module 902 is specifically configured to:

[0126] Extract the position of the target vehicle from the road reference information; determine a node set based on the two nodes included in each road section, and determine any two nodes in the node set as a first candidate node pair; obtain a first distance value and a second distance value corresponding to the square of the distance from the target vehicle to the two nodes in the first candidate node pair, and a third distance value corresponding to the square of the distance between the two nodes in the first candidate node pair, and determine whether the sum of the first distance value and the third distance value is greater than or equal to the second distance value or whether the sum of the second distance value and the third distance value is greater than or equal to the first distance value; if so, determine the first candidate node pair as the second candidate node pair; calculate the vertical distance from the target vehicle to the node line formed by the two nodes in the second candidate node pair, and determine the second candidate node pair whose vertical distance is less than the preset road section width as the third candidate node pair; determine the road section where the target vehicle is located based on the direction angle of the node line formed by the two nodes in the third candidate node pair and the direction angle of the target vehicle.

[0127] In one embodiment, the object determination module 902 is specifically configured to:

[0128] A weighted operation is performed on the direction angle of the node connection formed by the two nodes in the third candidate node pair and the heading angle of the target vehicle to obtain a weighted result; and the road section corresponding to the third candidate node pair corresponding to the minimum weighted result is determined as the road section where the target vehicle is located.

[0129] In one embodiment, the object determination module 902 is specifically configured to:

[0130] According to the moving direction and position of the target vehicle, a positioning coordinate system is constructed with the position of the target vehicle as the origin and the moving direction of the target vehicle as the vertical axis; according to the position and positioning coordinate system of each first candidate traffic participant, a fourth candidate traffic participant located in front of the moving direction of the target vehicle is determined; and from the fourth candidate traffic participant, a second candidate traffic participant traveling in the opposite direction of the target vehicle is determined.

[0131] In one embodiment, the object determination module 902 is specifically configured to:

[0132] Determine the upstream node and downstream node of the road section where the target vehicle is located according to the moving direction of the target vehicle; determine the upstream node and downstream node of the fourth candidate traffic participant on the road section according to the moving direction of the fourth candidate traffic participant; determine the second candidate traffic participant traveling in the opposite direction of the target vehicle according to the upstream node and downstream node of the road section where the target vehicle is located and the upstream node and downstream node of the fourth candidate traffic participant on the road section.

[0133] In one embodiment, the object determination module 902 is specifically configured to:

[0134] Based on the acceleration and speed of the second candidate traffic participant and the preset time delay, calculate the moving distance of the second candidate traffic participant within the preset time delay; determine the real-time position of the second candidate traffic participant based on the position and moving distance of the second candidate traffic participant; determine the real-time distance between the second candidate traffic participant and the target vehicle based on the real-time position of the second candidate traffic participant and the real-time position of the target vehicle; determine the second candidate traffic participant whose real-time distance to the target vehicle is less than or equal to the preset distance threshold as the opposite traffic participant.

[0135] For the specific definition of the fusion perception system, please refer to the definition of the assisted driving method above and will not be repeated here. Each module in the above-mentioned fusion perception system can be implemented in whole or in part through software, hardware, or a combination thereof. Each of the above-mentioned modules can be embedded in or independent of the processor in the computer device in hardware form, or can be stored in the memory of the computer device in software form, so that the processor can call and execute the corresponding operations of each of the above modules.

[0136] In one embodiment, a computer device is provided, whose internal structure diagram can be as follows: Figure 10 As shown. The computer device includes a processor, a memory, a communication interface, a display screen and an input device connected via a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, an operator network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, an assisted driving method is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad provided on the computer device housing, or an external keyboard, touchpad or mouse.

[0137] Those skilled in the art will understand that Figure 10 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the fusion perception system to which the solution of the present application is applied. The specific fusion perception system may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0138] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0139] Obtaining road reference information and receiving the high beam usage status of the target vehicle; wherein the road reference information includes status information of each traffic participant on the target road covered by the fusion perception system and map information of the target road, and the status information includes the position and movement parameters of each traffic participant;

[0140] When the high beam of the target vehicle is on, determining based on the road reference information whether there is an oncoming traffic participant on the target road that is at a distance less than or equal to a preset distance threshold from the target vehicle and is located on the same road section as the target vehicle;

[0141] If there is an oncoming traffic participant, an alarm prompt is generated and sent to the target vehicle; wherein the alarm prompt is used to remind the driver to turn off the high beam of the target vehicle.

[0142] In one embodiment, the target road includes multiple road segments, and when the processor executes the computer program, the processor further implements the following steps:

[0143] A first candidate traffic participant on the target road that is located in the same section as the target vehicle is determined based on the road reference information; a second candidate traffic participant traveling in the opposite direction of the target vehicle is determined from the first candidate traffic participant; and an opposite traffic participant whose distance to the target vehicle is less than or equal to a preset distance threshold is determined from the second candidate traffic participant.

[0144] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0145] Determine the road section where the target vehicle is located based on the position of the target vehicle in the map information and the road reference information; determine the road section where each traffic participant in the target road is located based on the positions of other traffic participants in the map information and the road reference information; and determine the first candidate traffic participant in the same road section as the target vehicle based on the road section where the target vehicle is located and the road sections where other traffic participants in the target road are located.

[0146] In one embodiment, each road segment includes two nodes, and when the processor executes the computer program, the processor further implements the following steps:

[0147] Extract the position of the target vehicle from the road reference information; determine a node set based on the two nodes included in each road section, and determine any two nodes in the node set as a first candidate node pair; obtain a first distance value and a second distance value corresponding to the square of the distance from the target vehicle to the two nodes in the first candidate node pair, and a third distance value corresponding to the square of the distance between the two nodes in the first candidate node pair, and determine whether the sum of the first distance value and the third distance value is greater than or equal to the second distance value or whether the sum of the second distance value and the third distance value is greater than or equal to the first distance value; if so, determine the first candidate node pair as the second candidate node pair; calculate the vertical distance from the target vehicle to the node line formed by the two nodes in the second candidate node pair, and determine the second candidate node pair whose vertical distance is less than the preset road section width as the third candidate node pair; determine the road section where the target vehicle is located based on the direction angle of the node line formed by the two nodes in the third candidate node pair and the direction angle of the target vehicle.

[0148] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0149] A weighted operation is performed on the direction angle of the node connection formed by the two nodes in the third candidate node pair and the heading angle of the target vehicle to obtain a weighted result; and the road section corresponding to the third candidate node pair corresponding to the minimum weighted result is determined as the road section where the target vehicle is located.

[0150] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0151] According to the moving direction and position of the target vehicle, a positioning coordinate system is constructed with the position of the target vehicle as the origin and the moving direction of the target vehicle as the vertical axis; according to the position and positioning coordinate system of each first candidate traffic participant, a fourth candidate traffic participant located in front of the moving direction of the target vehicle is determined; and from the fourth candidate traffic participant, a second candidate traffic participant traveling in the opposite direction of the target vehicle is determined.

[0152] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0153] Determine the upstream node and downstream node of the road section where the target vehicle is located according to the moving direction of the target vehicle; determine the upstream node and downstream node of the fourth candidate traffic participant on the road section according to the moving direction of the fourth candidate traffic participant; determine the second candidate traffic participant traveling in the opposite direction of the target vehicle according to the upstream node and downstream node of the road section where the target vehicle is located and the upstream node and downstream node of the fourth candidate traffic participant on the road section.

[0154] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0155] Based on the acceleration and speed of the second candidate traffic participant and the preset time delay, calculate the moving distance of the second candidate traffic participant within the preset time delay; determine the real-time position of the second candidate traffic participant based on the position and moving distance of the second candidate traffic participant; determine the real-time distance between the second candidate traffic participant and the target vehicle based on the real-time position of the second candidate traffic participant and the real-time position of the target vehicle; determine the second candidate traffic participant whose real-time distance to the target vehicle is less than or equal to the preset distance threshold as the opposite traffic participant.

[0156] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0157] Obtaining road reference information and receiving the high beam usage status of the target vehicle; wherein the road reference information includes status information of each traffic participant on the target road covered by the fusion perception system and map information of the target road, and the status information includes the position and movement parameters of each traffic participant;

[0158] When the high beam of the target vehicle is on, determining based on the road reference information whether there is an oncoming traffic participant on the target road that is at a distance less than or equal to a preset distance threshold from the target vehicle and is located on the same road section as the target vehicle;

[0159] If there is an oncoming traffic participant, an alarm prompt is generated and sent to the target vehicle; wherein the alarm prompt is used to remind the driver to turn off the high beam of the target vehicle.

[0160] In one embodiment, the target road includes multiple road segments, and when the computer program is executed by the processor, the following steps are further implemented:

[0161] A first candidate traffic participant on the target road that is located in the same section as the target vehicle is determined based on the road reference information; a second candidate traffic participant traveling in the opposite direction of the target vehicle is determined from the first candidate traffic participant; and an opposite traffic participant whose distance to the target vehicle is less than or equal to a preset distance threshold is determined from the second candidate traffic participant.

[0162] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0163] Determine the road section where the target vehicle is located based on the position of the target vehicle in the map information and road reference information; determine the road section where other traffic participants are located based on the positions of other traffic participants in the map information and road reference information; and determine the first candidate traffic participant that is in the same road section as the target vehicle based on the road section where the target vehicle is located and the road section where the other traffic participants are located.

[0164] In one embodiment, each road segment includes two nodes, and when the computer program is executed by a processor, the following steps are further implemented:

[0165] Extract the position of the target vehicle from the road reference information; determine a node set based on the two nodes included in each road section, and determine any two nodes in the node set as a first candidate node pair; obtain a first distance value and a second distance value corresponding to the square of the distance from the target vehicle to the two nodes in the first candidate node pair, and a third distance value corresponding to the square of the distance between the two nodes in the first candidate node pair, and determine whether the sum of the first distance value and the third distance value is greater than or equal to the second distance value or whether the sum of the second distance value and the third distance value is greater than or equal to the first distance value; if so, determine the first candidate node pair as the second candidate node pair; calculate the vertical distance from the target vehicle to the node line formed by the two nodes in the second candidate node pair, and determine the second candidate node pair whose vertical distance is less than the preset road section width as the third candidate node pair; determine the road section where the target vehicle is located based on the direction angle of the node line formed by the two nodes in the third candidate node pair and the direction angle of the target vehicle.

[0166] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0167] A weighted operation is performed on the direction angle of the node connection formed by the two nodes in the third candidate node pair and the heading angle of the target vehicle to obtain a weighted result; and the road section corresponding to the third candidate node pair corresponding to the minimum weighted result is determined as the road section where the target vehicle is located.

[0168] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0169] According to the moving direction and position of the target vehicle, a positioning coordinate system is constructed with the position of the target vehicle as the origin and the moving direction of the target vehicle as the vertical axis; according to the position and positioning coordinate system of each first candidate traffic participant, a fourth candidate traffic participant located in front of the moving direction of the target vehicle is determined; and from the fourth candidate traffic participant, a second candidate traffic participant traveling in the opposite direction of the target vehicle is determined.

[0170] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0171] Determine the upstream node and downstream node of the road section where the target vehicle is located according to the moving direction of the target vehicle; determine the upstream node and downstream node of the fourth candidate traffic participant on the road section according to the moving direction of the fourth candidate traffic participant; determine the second candidate traffic participant traveling in the opposite direction of the target vehicle according to the upstream node and downstream node of the road section where the target vehicle is located and the upstream node and downstream node of the fourth candidate traffic participant on the road section.

[0172] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0173] Based on the acceleration and speed of the second candidate traffic participant and the preset time delay, calculate the moving distance of the second candidate traffic participant within the preset time delay; determine the real-time position of the second candidate traffic participant based on the position and moving distance of the second candidate traffic participant; determine the real-time distance between the second candidate traffic participant and the target vehicle based on the real-time position of the second candidate traffic participant and the real-time position of the target vehicle; determine the second candidate traffic participant whose real-time distance to the target vehicle is less than or equal to the preset distance threshold as the opposite traffic participant.

[0174] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory or optical memory, etc. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0175] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0176] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A driving assistance method, characterized in that: The method comprises: Acquiring road reference information and receiving the high beam usage status of a target vehicle; wherein the road reference information includes status information of each traffic participant on the target road covered by the fusion perception system and map information of the target road, the status information including the position and movement parameters of each traffic participant; and the target road includes multiple road sections; When the high beam of the target vehicle is on, extracting the position of the target vehicle from the road reference information, determining a node set based on the two nodes included in each road section, determining any two nodes in the node set as a first candidate node pair, and determining the road section where the target vehicle is located based on distance information between the target vehicle and the first candidate node pair; each road section includes two nodes located at both ends of the same side of the road section, and the map information includes the position of each node; Determining the road section where the other traffic participant objects are located according to the positions of the other traffic participant objects in the map information and the road reference information; Determine a first candidate traffic participant that is located on the same road section as the target vehicle according to the road section where the target vehicle is located and the road sections where the other traffic participants are located; Determine a second candidate traffic participant traveling in an opposite direction from the target vehicle from among the first candidate traffic participants; Determine, from the second candidate traffic participants, an opposite traffic participant whose distance to the target vehicle is less than or equal to a preset distance threshold; If the oncoming traffic participant exists, a warning prompt is generated and sent to the target vehicle; wherein the warning prompt is used to remind the driver to turn off the high beam of the target vehicle.

2. The method according to claim 1, characterized in that The determining of the road section where the target vehicle is located according to the distance information between the target vehicle and the first candidate node pair includes: Obtaining a first distance value and a second distance value corresponding to the square of the distances from the target vehicle to the two nodes in the first candidate node pair, respectively, and a third distance value corresponding to the square of the distance between the two nodes in the first candidate node pair, and determining whether the sum of the first distance value and the third distance value is greater than or equal to the second distance value or whether the sum of the second distance value and the third distance value is greater than or equal to the first distance value; if so, determining the first candidate node pair as the second candidate node pair; Calculating a vertical distance from the target vehicle to a node line formed by two nodes in the second candidate node pair, and determining a second candidate node pair whose vertical distance is less than a preset road section width as a third candidate node pair; The road section where the target vehicle is located is determined according to the direction angle of the node connection line formed by two nodes in the third candidate node pair and the direction angle of the target vehicle.

3. The method according to claim 2, characterized in that The determining the road section where the target vehicle is located according to the direction angle of the node connection line formed by two nodes in the third candidate node pair and the direction angle of the target vehicle includes: performing a weighted operation on the direction angle of the node line formed by the two nodes in the third candidate node pair and the heading angle of the target vehicle to obtain a weighted result; The road section corresponding to the third candidate node pair corresponding to the minimum weighted result is determined as the road section where the target vehicle is located.

4. The method according to any one of claims 1 to 3, characterized in that The determining, from the first candidate traffic participants, a second candidate traffic participant traveling in the opposite direction of the target vehicle, includes: According to the moving direction and position of the target vehicle, a positioning coordinate system is constructed with the position of the target vehicle as the origin and the moving direction of the target vehicle as the longitudinal axis; Determining a fourth candidate traffic participant located ahead of the target vehicle in the moving direction according to the positions of each of the first candidate traffic participant objects and the positioning coordinate system; The second candidate traffic participant traveling in an opposite direction to the target vehicle is determined from the fourth candidate traffic participant.

5. The method according to claim 4, characterized in that The determining, from the fourth candidate traffic participants, the second candidate traffic participant traveling in the opposite direction of the target vehicle comprises: Determining an upstream node and a downstream node of a road section where the target vehicle is located according to a moving direction of the target vehicle; Determine the upstream node and the downstream node of the fourth candidate traffic participant on the road section according to the moving direction of the fourth candidate traffic participant; The second candidate traffic participant traveling in the opposite direction to the target vehicle is determined based on the upstream node and downstream node of the road section where the target vehicle is located and the upstream node and downstream node of the fourth candidate traffic participant on the road section.

6. The method according to any one of claims 1 to 3, characterized in that The determining, from the second candidate traffic participants, the oncoming traffic participant whose distance to the target vehicle is less than or equal to the preset distance threshold comprises: Calculating a movement distance of the second candidate traffic participant within the preset time delay based on the acceleration and speed of the second candidate traffic participant and the preset time delay; Determine the real-time position of the second candidate traffic participant according to the position of the second candidate traffic participant and the moving distance; Determining a real-time distance between the second candidate traffic participant and the target vehicle according to the real-time position of the second candidate traffic participant and the real-time position of the target vehicle; The second candidate traffic participant whose real-time distance to the target vehicle is less than or equal to the preset distance threshold is determined as the oncoming traffic participant.

7. A fusion perception system, characterized in that: The system comprises: an information acquisition module, configured to acquire road reference information and receive the high-beam usage status of a target vehicle; wherein the road reference information includes status information of each traffic participant on the target road covered by the fusion perception system and map information of the target road, wherein the status information includes the position and movement parameters of each traffic participant; and wherein the target road includes multiple road sections; An object determination module is used to extract the position of the target vehicle from the road reference information when the high beam of the target vehicle is turned on, determine a node set based on the two nodes included in each of the road sections, and determine any two nodes in the node set as a first candidate node pair, and determine the road section where the target vehicle is located based on the distance information between the target vehicle and the first candidate node pair; each road section includes two nodes located at both ends of the same side of the road section, and the map information includes the position of each node; determine the road section where the other traffic participants are located based on the positions of the other traffic participants in the map information and the road reference information; determine a first candidate traffic participant that is in the same road section as the target vehicle based on the road section where the target vehicle is located and the road section where the other traffic participants are located; determine a second candidate traffic participant that is traveling in the opposite direction of the target vehicle from the first candidate traffic participant; and determine an opposite traffic participant that is less than or equal to a preset distance threshold from the second candidate traffic participant; The warning prompt module is used to generate a warning prompt when the oncoming traffic participant exists, and send the warning prompt to the target vehicle; wherein the warning prompt is used to remind the driver to turn off the high beam of the target vehicle.

8. The system according to claim 7, characterized in that The object determination module is further configured to: Obtaining a first distance value and a second distance value corresponding to the square of the distances from the target vehicle to two nodes in the first candidate node pair, respectively, and a third distance value corresponding to the square of the distance between the two nodes in the first candidate node pair, and determining whether the sum of the first distance value and the third distance value is greater than or equal to the second distance value or whether the sum of the second distance value and the third distance value is greater than or equal to the first distance value; If yes, determining the first candidate node pair as the second candidate node pair; Calculating a vertical distance from the target vehicle to a node line formed by two nodes in the second candidate node pair, and determining a second candidate node pair whose vertical distance is less than a preset road section width as a third candidate node pair; The road section where the target vehicle is located is determined according to the direction angle of the node connection line formed by two nodes in the third candidate node pair and the direction angle of the target vehicle.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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