A method and device for verifying a fusion target of redundant functions, an electronic device and a computer-readable storage medium

Abstract

The present application provides a fusion target verification method and device with redundant functions, an electronic device and a computer-readable storage medium, wherein the method includes: obtaining at least one fusion target, wherein at least one fusion target is generated by fusing a camera target and a radar target; selecting a first standard target from at least one fusion target, wherein the first standard target is within the verification range; verifying at least one fusion target through the first standard target to obtain a target verification state set; arbitrating the target verification state set to obtain a fusion target verification state final value corresponding to at least one fusion target. Through this method, the fusion target can be verified through the redundant function, so as to take over the vehicle in time to maintain the intelligent driving of the vehicle.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving, and in particular to a method and device for verifying a fusion target of redundant functions, an electronic device, and a computer-readable storage medium. Background Art

[0002] At present, intelligence and low carbon have become the development direction of the automotive industry. With the application of artificial intelligence and big data technology, intelligent driving of automobiles has developed rapidly. At present, the automation level of automobile advanced driver assistance systems (ADAS) is divided into 5 levels, and each level has different requirements for intelligent driving.

[0003] At present, intelligent driving is controlled by the main function module, which can perform conventional lateral and longitudinal control. However, the main function module has a potential failure risk. When it fails, the car will prompt the driver to take over the car and switch to manual driving. If the driver fails to take over in time, the car may be in a high-risk state. Summary of the invention

[0004] In view of the above-mentioned shortcomings of the prior art, the present application provides a redundant function fusion target verification method to solve the above-mentioned technical problems.

[0005] The present application provides a method for verifying a fusion target of a redundant function, including:

[0006] Acquire at least one fusion target, where the at least one fusion target is generated by fusing a camera target and a radar target;

[0007] Selecting a first standard target from at least one fused target, the first standard target being within a verification range;

[0008] Verifying at least one fusion target through a first standard target to obtain a target verification state set;

[0009] The target verification state set is arbitrated to obtain a fusion target verification state final value corresponding to at least one fusion target.

[0010] In one embodiment of the present application, a first fusion target is determined from at least one fusion target, and the input check flag, check enable flag, trusted fusion target flag, in-check range flag and standard target flag of the first fusion target are all first values, and the self-check failure flag of the first fusion target is a second value; the first fusion target is determined as the first standard target; wherein, when the input check flag is the first value, it is used to indicate that the input check flag is valid; when the check enable flag is the first value, it is used to indicate that the first fusion target is checked; when the trusted fusion target flag is the first value, it is used to indicate that the first fusion target is a trusted fusion target; when the in-check range flag is the first value, it is used to indicate that the first fusion target is within the check boundary; when the self-check failure flag of the first fusion target is the second value, it is used to indicate that the first fusion target self-check is successful; when the standard target flag corresponding to the first standard target is the first value, it is used to indicate that the first fusion target is a standard target.

[0011] In one embodiment of the present application, when the first fusion target satisfies the first condition, the input check flag is a first value; the first condition is that the end-to-end detection of the first fusion target passes, and the upper and lower limit range detection passes; wherein the end-to-end detection includes at least communication loss check, cyclic redundancy check and cycle count check.

[0012] In one embodiment of the present application, when the second condition is met, the check enable flag is a first value;

[0013] In one embodiment of the present application, the second condition includes: the vehicle speed is valid; the vehicle speed is greater than a first threshold; the input check mark of at least one fusion target is a first value, wherein when the first fusion target is the first value, the input check mark of at least one fusion target is the first value; the longitudinal activation flag is the first value.

[0014] In one embodiment of the present application, when the first fusion target satisfies the third condition, the credible fusion target flag is a first value;

[0015] In one embodiment of the present application, the third condition includes: the first fusion target is in a fusion state; the tracking flag of the first fusion target is greater than 0 and remains unchanged; the actual existence probability of the first fusion target is greater than the calibrated probability value.

[0016] In one embodiment of the present application, when the first fusion target satisfies the fourth condition, the check range flag is a first value;

[0017] In one embodiment of the present application, the fourth condition includes: the tracking identifier of the first fused target is greater than 0; the lateral position of the first fused target is less than the calibrated lateral boundary; the longitudinal position of the first fused target is less than the calibrated longitudinal boundary or the target verification longitudinal sight distance; wherein the target verification longitudinal sight distance is the product of the expected distance and the calibrated sight distance gain, and the expected distance is obtained by looking up the table based on the vehicle speed.

[0018] In one embodiment of the present application, the self-check failure flag of the first fusion target is determined according to the self-check step, and the self-check step is performed when the trusted fusion target flag and the in-check range flag of the first fusion target are both the first value;

[0019] In one embodiment of the present application, the self-verification step includes: continuously collecting the longitudinal position and longitudinal speed of the first fusion target and the speed of the vehicle within a preset time period; estimating the longitudinal position deviation between the first fusion target and the vehicle within the preset time period based on the longitudinal speed and the speed of the vehicle, and obtaining the estimated longitudinal position deviation; comparing the estimated longitudinal position deviation with the actual longitudinal position deviation, the actual longitudinal position deviation is collected by the vehicle; if the error between the estimated longitudinal position deviation and the actual longitudinal position deviation is less than a second threshold value, determining that the self-verification failure flag of the first fusion target is a second value.

[0020] In one embodiment of the present application, at least one fused target is verified by a first standard target. Before obtaining the target verification status set, if the longitudinal distance of the first fused target is less than the size of the longitudinal sight distance of the target verification, the fused target existence flag of the first fused target is determined to be the first value; wherein, when the fused target existence flag of the first fused target is the first value, it is used to indicate that the first fused target is within the verification range.

[0021] In one embodiment of the present application, at least one fused target is verified by a first standard target, and before obtaining a target verification state set, the longitudinal collision time of the first fused target is calculated based on the standard target flag, longitudinal position, longitudinal speed and vehicle speed of the first fused target.

[0022] In one embodiment of the present application, at least one fused target is verified by a first standard target, and a minimum lateral collision avoidance interval is set before obtaining a target verification state set; if the first fused target satisfies the fifth condition, the lateral hazard mark of the first fused target is determined to be a first value; when the lateral hazard mark is the first value, it is used to indicate that the first fused target is in a danger zone; the fifth condition is that the absolute value of the lateral position of the first fused target is less than the width of the first fused target plus one-half of the width of the vehicle, plus the sum of the minimum lateral collision avoidance interval.

[0023] In one embodiment of the present application, the first standard target is sequentially matched with each fused target in at least one fused target in terms of point-to-point longitudinal position, lateral position and longitudinal speed parameters to obtain a target verification state set, which includes the verification state of the first standard target.

[0024] In one embodiment of the present application, the target verification state set includes parameter matching results between a first standard target and a second fusion target in at least one fusion target, where the second fusion target is any one of the at least one fusion target; the parameter matching results include lateral verification position results, longitudinal position verification results and longitudinal speed verification results of the first standard target and the second fusion target.

[0025] In one embodiment of the present application, if the first standard target and the second fusion target parameters match successfully, the verification status flag of the first standard target is a first value; or, if the first standard target and the second fusion target parameters do not match successfully, the verification status flag of the first standard target is a third value; when the verification status flag of the first standard target is the third value, it is used to indicate that the verification of the first standard target has failed.

[0026] In one embodiment of the present application, successful matching of the parameters of the first standard target and the second fusion target includes: the lateral verification position result meets the preset lateral position condition, the longitudinal position verification result meets the preset longitudinal position condition, and the longitudinal speed verification result meets the preset longitudinal speed condition.

[0027] In one embodiment of the present application, the at least one fusion target includes a front fusion target, a front-front fusion target, a left fusion target, a left-front fusion target, a right fusion target, and a right-front fusion target;

[0028] In one embodiment of the present application, a fused target verification initial value is determined according to a target verification state set; and a target verification final value is determined according to the fused target verification initial value.

[0029] In one embodiment of the present application, the target verification status set includes status information of each fused target in at least one fused target.

[0030] In one embodiment of the present application, if the front fusion target satisfies the first preset state, or the left fusion target satisfies the second preset state, or the right fusion target satisfies the third preset state, or at least one fusion target includes at least one fusion target whose verification status flag is a third value, then the fusion target verification initial value is determined to be the third value; or, if at least one fusion target includes at least one fusion target whose verification status flag is a first value, then the fusion target verification initial value is determined to be the first value; otherwise, the fusion target verification initial value is determined to be the second value; wherein, when the fusion target verification initial value is the third value, it is used to indicate that the current verification of at least one fusion target has failed; when the fusion target verification initial value is the first value, it is used to indicate that the current verification of at least one fusion target has succeeded; when the fusion target verification initial value is the second value, it is used to indicate that at least one fusion target has not been verified at present.

[0031] In one embodiment of the present application, if the initial value of the fusion target verification state is a third value and the duration exceeds the first threshold, the final value of the fusion target verification state is determined to be the third value; or, if the horizontal activation flag indicates an activated state, the final value of the fusion target verification state is determined to be the first value; or, if the initial value of the fusion target verification state is a second value, the final value of the fusion target verification state is determined to be the second value; wherein, when the final value of the fusion target verification state is a third value, it is used to indicate that the verification of at least one fusion target has failed; when the final value of the fusion target verification state is a first value, it is used to indicate that the verification of at least one fusion target has succeeded; when the final value of the fusion target verification is a second value, it is used to indicate that at least one fusion target has not been verified.

[0032] In a second aspect, an embodiment of the present application provides a fusion target verification device for redundant functions, including:

[0033] An acquisition unit, used for acquiring at least one fusion target, where the at least one fusion target is generated by fusing a camera target and a radar target;

[0034] A selection unit, configured to select a first standard target from at least one fusion target, wherein the first standard target is within a verification range;

[0035] A processing unit, configured to verify at least one fusion target by using a first standard target to obtain a target verification state set;

[0036] The arbitration unit is used to arbitrate the target verification state set to obtain a fusion target verification state final value corresponding to at least one fusion target.

[0037] In a third aspect, the present application provides an electronic device, including:

[0038] one or more processors;

[0039] A storage device is used to store one or more programs. When the one or more programs are executed by one or more processors, the electronic device implements the fusion target verification method of the redundant function described in the first aspect.

[0040] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor of a computer, the computer executes the fusion target verification method of the redundant functions described in the first aspect.

[0041] The beneficial effects of the present application are as follows: the fusion target can be verified through the redundant function, and the vehicle can be taken over in time to maintain the intelligent driving of the vehicle.

[0042] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0044] Figure 1 is a schematic diagram of a redundant function software architecture of an intelligent driving assistance system shown in an exemplary embodiment of the present application;

[0045] Figure 2 is a flow chart of a method for verifying a fusion target of a redundant function shown in an exemplary embodiment of the present application;

[0046] Figure 3 is a schematic diagram of a vehicle identifying a target according to an exemplary embodiment of the present application;

[0047] Figure 4 is a flow chart of a method for verifying a fusion target of a redundant function shown in another exemplary embodiment of the present application;

[0048] Figure 5 is a block diagram of a fusion target verification device of redundant functions shown in an exemplary embodiment of the present application;

[0049] Figure 6 A schematic diagram of the structure of a computer system suitable for implementing an electronic device of an embodiment of the present application is shown. DETAILED DESCRIPTION

[0050] The following will describe the implementation methods of the present application with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific implementation methods, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be understood that the preferred embodiments are only for illustrating the present application, not for limiting the scope of protection of the present application.

[0051] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application, and thus the drawings only show components related to the present application rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed at will, and the component layout may also be more complicated.

[0052] In the following description, a large number of details are discussed to provide a more thorough explanation of the embodiments of the present application. However, it is obvious to those skilled in the art that the embodiments of the present application can be implemented without these specific details. In other embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present application difficult to understand.

[0053] First of all, it should be explained that the main parts of the redundant function are function verification and safe parking. The function verification is responsible for the rationality verification of the input and output of each functional module of the main function. The verification scope mainly includes: sensor information, vehicle information, software and hardware fault status, driving behavior, etc. Once the verification fails, the redundant alarm module outputs the corresponding safety alarm level and issues an alarm reminder to prompt the driver to take over in time. If the alarm level is high and the driver does not take over in time, the redundant function takes over the main function, performs safe parking control, and lights up the double flash. If the driver takes over in time, the redundant function automatically exits the safe state and no longer interferes with the driver's control. Generally, the rationality verification of the redundant function mainly includes: planning target verification, braking deceleration verification, planning trajectory verification, lateral control verification, state machine verification, fault detection, etc. Among them, the planning target verification includes two parts: fusion target verification and target selection verification. The present invention explains the fusion target verification and gives the corresponding software design architecture.

[0054] ACC (Adaptive Cruise Control) is an intelligent cruise control system based on sensor recognition technology. Compared with traditional cruise control systems that can only cruise at a constant speed according to the speed set by the driver, ACC can identify the vehicle in front, thereby achieving the intelligent following effect of "I slow down if the car in front is slow, and I speed up if the car in front is fast".

[0055] Figure 1 It is a schematic diagram of the redundant function software architecture of the intelligent driving assistance system shown in an exemplary embodiment of the present application. Among them, the software architecture includes a gateway, a functional module and a camera radar module. Among them, the functional module may include a main functional module and a redundant functional module. The gateway can send vehicle information to the functional module, and the functional module can send parameters such as lateral control, longitudinal control and HMI (human-machine interface software, Human Machine Interface) display to the gateway. The camera radar module may include a front camera (Front Camera, FC), a front radar (Front Radar, FR) and a corner radar (CR). The camera radar module may send lane line parameters and target parameters to the functional module, and may also send camera targets and radar targets. The main functional module may send planning targets, planning trajectories, control status, longitudinal control parameters, lateral control parameters and HMI display information to the redundant functional module; the redundant functional module may send redundant verification status, redundant functional status and redundant alarm status to the main functional module.

[0056] The embodiments of the present application can be applied in vehicles, and the vehicles can support wireless communication methods such as 3G (third generation mobile information technology), 4G (fourth generation mobile information technology), and 5G (fifth generation mobile information technology), but this is not limited here.

[0057] See also Figure 2 , Figure 2 FIG. 1 is a flowchart of a method for verifying a fusion target of a redundant function shown in an exemplary embodiment of the present application. The method can be applied to Figure 1 The implementation environment shown is implemented by the redundant functional modules configured in the vehicle in the implementation environment. It should be understood that the method can also be applied to other exemplary implementation environments and specifically executed by devices in other implementation environments, and this embodiment does not limit the implementation environment to which the method is applicable.

[0058] Exemplarily, the smart terminal to which the redundant function fusion target verification method disclosed in this embodiment is applicable may be installed with an SDK (Software Development Kit, a collection of development tools for building application software for specific software packages, software frameworks, operating systems, etc.), and the method disclosed in this embodiment is specifically implemented as one or more functions provided by the SDK to the outside.

[0059] like Figure 2 As shown, in an exemplary embodiment, the fusion target verification method of redundant functions at least includes steps S210 to S240, which are described in detail as follows:

[0060] Step S210, obtaining at least one fusion target, where the at least one fusion target is generated by fusing the camera target and the radar target.

[0061] The camera can capture the camera target, the radar can capture the radar target, and the redundant function module can fuse the camera target and the radar target to obtain at least one fusion target. In the embodiment of the present application, the fusion target can also be called the ACC target, and the present application is described in terms of the fusion target. The fusion target can refer to other vehicles that are jointly identified by the camera and radar of the vehicle, such as Figure 3 The figure shows a schematic diagram of a vehicle identifying a target. The vehicle can identify the front vehicle, the front-front vehicle, the left vehicle, the left-front vehicle, the right vehicle and the right-front vehicle, which can correspond to the front, front-front, left, left-front, right and right-front fusion targets respectively.

[0062] Step S220, selecting a first standard target from at least one fusion target, where the first standard target is within the verification range.

[0063] The redundant function module can determine a first fusion target from at least one fusion target, and the input check flag, check enable flag, trusted fusion target flag, in-check range flag and standard target flag of the first fusion target are all first values, and the self-check failure flag of the first fusion target is a second value, then the first fusion target can be determined as the first standard target.

[0064] Wherein, when the input check mark is the first value, it is used to indicate that the input check mark is valid;

[0065] When the check enable flag is a first value, it is used to indicate to check the first fusion target;

[0066] When the trusted fusion target flag is a first value, it is used to indicate that the first fusion target is a trusted fusion target;

[0067] When the check range flag is a first value, it is used to indicate that the first fusion target is within the check boundary;

[0068] When the self-check failure flag of the first fusion target is the second value, it is used to indicate that the self-check of the first fusion target is successful;

[0069] When the standard target flag corresponding to the first standard target is a first value, it is used to indicate that the first fusion target is a standard target.

[0070] The first value may be a number "1", and the second value may be a number "0", which may be specifically designed by those skilled in the art and is not limited in the embodiments of the present application. For the convenience of description, the first value is taken as "1" and the second value is taken as "0" below.

[0071] In a possible implementation, the redundant function module can perform target verification and enable operation on each fusion target in at least one fusion target, and the target verification and enable can be used for target verification and enable determination, standard target selection and feature extraction. Target verification and enable specifically include fusion target input verification, target verification longitudinal sight distance calculation, target enable determination, perceived fusion target existence determination, and fusion target feature extraction. The embodiment of the present application is described by taking the first fusion target as an example, and the operation steps for each fusion target in at least one fusion target are the same. The first fusion target can be any one of the fusion targets of the front (Fr), front front (FrFr), left (Le), left front (LeFr), right (Ri) and right front (RiFr).

[0072] Among them, in the step of verifying the input of the fusion target, the first fusion target can be subjected to end-to-end detection and upper and lower limit range detection, which can ensure that the signal of the first fusion target is reliable and prevent false verification. Among them, the end-to-end detection includes at least communication loss check, cyclic redundancy check and rolling counter check. When the first fusion target meets the first condition, it can be determined that the input check flag of the first fusion target is 1 (i.e. valid); otherwise, the input check flag of the first fusion target is 0 (i.e. invalid). The first condition can be that the end-to-end detection of the first fusion target passes, and the upper and lower limit range detection passes.

[0073] In addition, when the input check flag of at least one fusion target meets any of the following conditions, the input check flag of at least one fusion target is 1 (valid); otherwise, it is 0 (invalid):

[0074] Front fusion target input check flag = 1 ("valid");

[0075] Front front fusion target input check flag = 1;

[0076] Left fusion target input check flag = 1;

[0077] Left front fusion target input check flag = 1;

[0078] Right fusion target input check flag = 1;

[0079] Right front fusion target input check flag = 1.

[0080] Optionally, the redundant function module can calculate the target verification longitudinal sight distance, wherein the target verification longitudinal sight distance = expected distance * calibrated sight distance gain. The expected distance is obtained by looking up a table based on the vehicle speed of the vehicle.

[0081] Optionally, when all contents of the second condition are met at the same time, the check enable flag of the first fusion target is 1 (i.e. enabled); otherwise, it is 0 (i.e. disabled).

[0082] The second condition includes:

[0083] The vehicle speed is valid;

[0084] The speed of the vehicle is greater than a first threshold;

[0085] The input check mark of at least one fusion target is a first value, wherein when the first fusion target is a first value, the input check mark of at least one fusion target is the first value;

[0086] The vertical activation flag is the first value.

[0087] In a possible implementation, if the longitudinal distance of the first fused target is less than the size of the target verification longitudinal sight distance, it is determined that the fused target existence flag of the first fused target is the first value, that is, 1 (that is, it exists); otherwise, it is 0 (that is, it does not exist). Wherein, when the fused target existence flag of the first fused target is the first value, it is used to indicate that the first fused target is within the verification range.

[0088] In a possible implementation, the redundant function module can determine the characteristic quantity of the first fusion target. Specifically, the characteristic quantity of the first fusion target can be determined based on the parameters of the first fusion target, the vehicle speed and other information. Among them, the parameters of the first fusion target include at least: tracking identification (ID), fusion state, real existence probability, lateral position, longitudinal position, longitudinal speed, length, width, etc. The characteristic quantity of the first fusion target may include: trusted fusion target flag, in-verification range flag, self-verification failure flag, standard target flag, longitudinal collision time, lateral danger flag, etc.

[0089] Optionally, when all contents of the third condition are satisfied at the same time, its trusted fusion target flag is 1 (ie, exists); otherwise, it is 0 (ie, does not exist).

[0090] The third condition includes:

[0091] The first fusion target is the fusion state, where the fusion state indicates that the first fusion target is the same target detected by FC and FR;

[0092] The tracking ID of the first fused target is greater than 0 and remains unchanged;

[0093] The real existence probability of the first fusion target is greater than the calibrated probability value.

[0094] Optionally, when the first fusion target satisfies the fourth condition, its within-verification range flag is 1 (ie, within the verification range); otherwise, it is 0 (ie, not within the verification range).

[0095] The fourth condition includes:

[0096] The tracking flag of the first fusion target is greater than 0;

[0097] The lateral position of the first fused target is smaller than the calibrated lateral boundary;

[0098] The longitudinal position of the first fused target is smaller than the calibrated longitudinal boundary or the target verification longitudinal sight distance; wherein the target verification longitudinal sight distance is the product of the expected distance and the calibrated sight distance gain, and the expected distance is obtained by looking up the table according to the vehicle speed.

[0099] Optionally, the self-check failure flag of the first fusion target is determined according to the self-check step, and the self-check step is performed when the trusted fusion target flag and the in-check range flag of the first fusion target are both 1;

[0100] The self-checking step includes:

[0101] The longitudinal position and longitudinal speed of the first fusion target and the vehicle speed are continuously collected within a preset time period; wherein the preset time period may be 0.2s, and the data may be collected continuously at intervals of 0.1s within 0.2s;

[0102] The longitudinal position estimation deviation between the first fused target and the vehicle within a preset time period is estimated according to the longitudinal speed and the vehicle speed, thereby obtaining a longitudinal position estimation deviation;

[0103] Compare the estimated longitudinal position deviation with the actual longitudinal position deviation, where the actual longitudinal position deviation is collected by the vehicle;

[0104] If the error between the estimated longitudinal position deviation and the actual longitudinal position deviation is less than the second threshold, the self-check failure flag of the first fusion target is determined to be the second value, that is, 0 (success); otherwise, it is 1 (failure).

[0105] Exemplarily, if the first fusion target is a front (Fr) fusion target and satisfies the following relationship, the self-check failure flag 0 of the front fusion target is determined:

[0106] |{((FrAccOBJ_VelX_t0+FrAccOBJ_VelX_t2) / 2–vehicle speed)*0.2s-(FrAccOBJ_PosX_t0-FrAccOBJ_PosX_t2)} / 2|>K_ROC_SnrAccOBJSelfVrfy_MaxDifferPosX.

[0107] in,

[0108] FrAccOBJ_VelX_t2: longitudinal velocity acquisition value at 0.2s before the forward fusion target;

[0109] FrAccOBJ_VelX_t0: the longitudinal velocity acquisition value of the front fusion target at the current moment;

[0110] FrAccOBJ_PosX_t2: the longitudinal position acquisition value of the front fusion target 0.2s before;

[0111] FrAccOBJ_PosX_t0: The longitudinal position acquisition value of the front fusion target at the current moment.

[0112] Similarly, if the first fusion target is the left fusion target, the corresponding relationship can be changed to:

[0113] |{((LeAccOBJ_VelX_t0+LeAccOBJ_VelX_t2) / 2–vehicle speed)*0.2s-(LeAccOBJ_PosX_t0-LeAccOBJ_PosX_t2)} / 2|>K_ROC_SnrAccOBJSelfVrfy_MaxDifferPosX. And so on, no further details are given here.

[0114] After the above execution steps, if the input check flag of the first fusion target = 1, the check enable flag of the first fusion target = 1, the trusted fusion target flag of the first fusion target = 1, the in-check range flag of the first fusion target = 1, the standard target flag of the first fusion target = 1, and the self-check failure flag of the first fusion target is 0, then the first fusion target can be determined as the first standard target.

[0115] In a possible implementation, the redundant function module may calculate the longitudinal collision time of the first fused target according to the standard target mark, the longitudinal position, the longitudinal speed and the vehicle speed of the first fused target.

[0116] In a possible implementation, the redundant functional module can set a minimum lateral collision avoidance interval; if the first fusion target meets the fifth condition, the lateral danger sign of the first fusion target is determined to be the first value, i.e., 1 (i.e., in the danger zone), otherwise it is the second value, i.e., 0 (i.e., outside the danger zone). When the lateral danger sign is 1, it is used to indicate that the first fusion target is in the danger zone. Among them, the fifth condition is that the absolute value of the lateral position of the first fusion target is less than the width of the first fusion target plus half of the width of the vehicle, plus the sum of the minimum lateral collision avoidance interval, that is:

[0117] |Lateral position of the first fusion target|<{(width of the first fusion target + width of the vehicle) / 2+calibrated minimum lateral collision avoidance interval}.

[0118] Step S230, verify at least one fusion target through the first standard target to obtain a target verification state set.

[0119] Specifically, the redundant function module can perform point-to-point longitudinal position, lateral position and longitudinal speed parameter matching of the first standard target with each fused target in at least one fused target in turn to obtain a target verification state set, which includes the verification state of the first standard target.

[0120] The target verification state set includes parameter matching results between the first standard target and a second fusion target in at least one fusion target, where the second fusion target is any one of the at least one fusion target. The parameter matching results include a lateral verification position result, a longitudinal position verification result, and a longitudinal speed verification result of the first standard target and the second fusion target.

[0121] In one possible implementation, if the standard target log of the first fusion target ≠ 1 (i.e., it is not a standard target), the verification status of the first fusion target = 0 (i.e., not verified). If the standard target log of the first fusion target = 1, the first fusion target and the first standard target are actually the same. If the first standard target and the second fusion target parameters match successfully, the verification status flag of the first standard target is the first value, i.e., 1 (i.e., verification is successful); or, if the first standard target and the second fusion target parameters do not match successfully, the verification status flag of the first standard target is a third value. Among them, the third value can be "2", and when the verification status flag of the first standard target is the third value, i.e., 2, it is used to indicate that the verification of the first standard target has failed.

[0122] In a possible implementation, the first standard target and the second fusion target parameter match successfully includes: the lateral position verification result satisfies the preset lateral position condition, the longitudinal position verification result satisfies the preset longitudinal position condition, and the longitudinal speed verification result satisfies the preset longitudinal speed condition. The preset lateral position condition may be relational expression a, the preset longitudinal position condition may be relational expression b, and the preset longitudinal speed condition may be relational expression c.

[0123] When the first standard target and the second fusion target parameters satisfy the following equations a, b, and c at the same time, it can be determined that the two are matched successfully:

[0124] Relationship a, |First standard target lateral position - Second fused target lateral distance| < sat{(K_ROC_MPUFusObjMatch_MaxDifferPosY + |First standard target lateral speed| * K_ROC_MPUFusObjMatch_PredictTime + |First standard target lateral position| * 0.1 + First standard target longitudinal position * 0.008), 0.5m, 1.5m};

[0125] Relationship b, |First standard target longitudinal position - Second fused target longitudinal distance| < sat{K_ROC_MPUFusObjMatch_MaxDifferPosX + First standard target length * 0.2 + max{0.5m, |First standard target longitudinal speed - Vehicle speed| * K_ROC_MPUFusObjMatch_PredictTime} + max{First standard target longitudinal position, 0m} * 0.04, 4m, 10m};

[0126] Relationship c, |First standard target longitudinal speed - Second fused target longitudinal speed| < sat{K_ROC_MPUFusObjMatch_MaxDifferVelX + |First standard target longitudinal speed - Vehicle speed| * 0.01 + First standard target longitudinal speed * 0.01 + max{First standard target longitudinal position, 0m} * 0.005 + |Change in first standard target longitudinal position in the last 0.2s| * 0.2, 1m / s, 2m / s}.

[0127] It should be noted that the redundant function module can match each standard target with each of at least one fused target one by one, and thus can obtain a set of target verification states. The set of target verification states includes the status information of each of the at least one fused target.

[0128] Exemplarily, as Figure 3 shown, assuming that the 1st - 6th fused targets can all be standard targets, then the redundant function module can match the front (Fr) standard target, i.e., the 1st fused target, with each of these 6 fused targets respectively to obtain a subset of verification states corresponding to the 1st fused target. Further, match the front - front (FrFr) fused target, i.e., the 2nd fused target, with each of these 6 fused targets respectively to obtain a subset of verification states corresponding to the 2nd fused target; and so on. Finally, the set of target verification states can include the subsets of verification states of each fused target.

[0129] It should be noted that when a standard target successfully matches another fusion target, the fusion target can be called a perception fusion target. For example, if the first standard target successfully matches the fusion target No. 2, then the fusion target No. 2 can also be called the perception fusion target No. 2.

[0130] Step S240, arbitrating the target verification state set to obtain a fusion target verification state final value corresponding to at least one fusion target.

[0131] In a possible implementation, the redundant function module can determine the initial value of the fusion target verification according to the target verification state set, and then determine the target verification final value according to the initial value of the fusion target verification. If the front fusion target satisfies the first preset state, or the left fusion target satisfies the second preset state, or the right fusion target satisfies the third preset state, or at least one fusion target includes at least one fusion target whose verification state flag is a third value, then the initial value of the fusion target verification is determined to be the third value, i.e., 2.

[0132] The first preset state may be:

[0133] The forward fused target verification status = 2 ("verification failed") and {the forward fused target lateral danger flag = 1 or the forward fused target longitudinal collision time < calibrated collision limit value)}.

[0134] The second preset state may be:

[0135] The left fused target verification status = 2 and {the left fused target lateral danger flag = 1, or the left fused target longitudinal collision time < calibrated collision limit value)}.

[0136] The third preset state may be:

[0137] The right fused target verification status = 2 and {the right fused target lateral danger flag = 1, or the right fused target longitudinal collision time < the calibrated collision limit value)}.

[0138] The at least one fusion target including at least one fusion target whose check status flag is a third value can be expressed as:

[0139] The front fusion target verification status = 2, or the left fusion target verification status = 2, or the right fusion target verification status = 2, or the front fusion target verification status = 2, or the left front fusion target verification status = 2, or the right front fusion target verification status = 2.

[0140] Optionally, if at least one fusion target includes at least one fusion target whose check state flag is a first value, the fusion target check initial value is determined to be the first value, that is, 1. Among them, at least one fusion target includes at least one fusion target whose check state flag is a first value can be expressed as:

[0141] The front fusion target verification status = 1 or the left fusion target verification status = 1 or the right fusion target verification status = 1 or the front fusion target verification status = 1 or the left front fusion target verification status = 1 or the right front fusion target verification status = 1.

[0142] Otherwise, determining the fusion target verification initial value to be the second value;

[0143] Among them, when the initial value of the fusion target verification is 2, it is used to indicate that the current verification of at least one fusion target has failed; when the initial value of the fusion target verification is 1, it is used to indicate that the current verification of at least one fusion target has succeeded; when the initial value of the fusion target verification is 0, it is used to indicate that at least one fusion target has not been verified.

[0144] Further, if the initial value of the fusion target verification state is a third value and the duration exceeds the first threshold, the final value of the fusion target verification state is determined to be the third value, that is, 2. The first threshold may be designed by those skilled in the art.

[0145] If the horizontal activation flag indicates an activated state, the final value of the fusion target verification state is determined to be the first value, that is, 1.

[0146] If the initial value of the fused target verification state is the second value, then the final value of the fused target verification state is determined to be the second value, that is, 0.

[0147] Among them, when the final value of the fusion target verification status is 2, it is used to indicate that the verification of at least one fusion target has failed; when the final value of the fusion target verification status is 1, it is used to indicate that the verification of at least one fusion target has been successful; when the final value of the fusion target verification status is 0, it is used to indicate that at least one fusion target has not been verified.

[0148] Through the embodiments of the present application, the redundant function module can obtain at least one fusion target, which is generated based on the fusion of the camera target and the radar target; select a first standard target from the at least one fusion target, and the first standard target is within the verification range; verify the at least one fusion target through the first standard target to obtain a target verification state set; arbitrate the target verification state set to obtain a fusion target verification state final value corresponding to at least one fusion target. When the redundant function module determines that the final value of the fusion target verification state is 1, that is, the verification of at least one fusion target is successful, the vehicle can be taken over. Through this method, the fusion target can be identified by the redundant function module, and the vehicle can be taken over in time to maintain the intelligent driving of the vehicle.

[0149] See also Figure 4 , Figure 4 FIG. 1 is a flowchart of a method for verifying a fusion target of a redundant function shown in another exemplary embodiment of the present invention. The method can be applied to Figure 1 The implementation environment shown is implemented by the redundant functional modules configured in the vehicle in the implementation environment. It should be understood that the method can also be applied to other exemplary implementation environments and specifically executed by devices in other implementation environments, and this embodiment does not limit the implementation environment to which the method is applicable.

[0150] Among them, the redundant function module can realize the verification of at least one fusion target through three steps: target verification enablement, fusion target verification and fusion target verification state arbitration. The target verification enablement step can perform ACC target input verification, target verification longitudinal sight distance calculation, target verification enablement judgment, perception fusion target existence judgment, ACC target feature extraction steps according to the vehicle speed, vehicle speed validity flag, longitudinal control activation flag, perception fusion targets 1-6 and front camera ACC targets, and then perform the fusion target verification step according to the corresponding output information, and verify each fusion target in fusion targets 1-6 in turn to obtain the corresponding target verification state. Finally, the fusion target verification state is obtained through the fusion target verification state arbitration step.

[0151] Through this method, at least one fusion target can be verified, which improves the credibility and accuracy of the fusion target verification and is conducive to the redundant functional module taking over the operation of the vehicle in time when the main functional module fails.

[0152] Figure 5 is a block diagram of a fusion target verification device for redundant functions shown in an exemplary embodiment of the present application. The device can be applied to Figure 1 The device can also be applied to other exemplary implementation environments and specifically configured in other devices. This embodiment does not limit the implementation environment to which the device is applied.

[0153] like Figure 5 As shown, the exemplary redundant function fusion target verification device includes:

[0154] An acquisition unit 510 is used to acquire at least one fusion target, where the at least one fusion target is generated by fusing a camera target and a radar target;

[0155] A selection unit 520, configured to select a first standard target from at least one fusion target, wherein the first standard target is within a verification range;

[0156] The processing unit 530 is configured to verify at least one fusion target by using a first standard target to obtain a target verification state set;

[0157] The arbitration unit 540 is used to arbitrate the target verification state set to obtain a fusion target verification state final value corresponding to at least one fusion target.

[0158] In one embodiment of the present application, the processing unit 530 is also used to determine a first fusion target from at least one fusion target, the input check flag, check enable flag, trusted fusion target flag, in-check range flag and standard target flag of the first fusion target are all first values, and the self-check failure flag of the first fusion target is a second value; the first fusion target is determined as the first standard target; wherein, when the input check flag is the first value, it is used to indicate that the input check flag is valid; when the check enable flag is the first value, it is used to indicate that the first fusion target is checked; when the trusted fusion target flag is the first value, it is used to indicate that the first fusion target is a trusted fusion target; when the in-check range flag is the first value, it is used to indicate that the first fusion target is within the check boundary; when the self-check failure flag of the first fusion target is the second value, it is used to indicate that the first fusion target self-check is successful; when the standard target flag corresponding to the first standard target is the first value, it is used to indicate that the first fusion target is a standard target.

[0159] In one embodiment of the present application, when the first fusion target satisfies the first condition, the input check flag is a first value; the first condition is that the end-to-end detection of the first fusion target passes, and the upper and lower limit range detection passes; wherein the end-to-end detection includes at least communication loss check, cyclic redundancy check and cycle count check.

[0160] In one embodiment of the present application, when the second condition is met, the check enable flag is a first value;

[0161] In one embodiment of the present application, the second condition includes: the vehicle speed is valid; the vehicle speed is greater than a first threshold; the input check mark of at least one fusion target is a first value, wherein when the first fusion target is the first value, the input check mark of at least one fusion target is the first value; the longitudinal activation flag is the first value.

[0162] In one embodiment of the present application, when the first fusion target satisfies the third condition, the credible fusion target flag is a first value;

[0163] In one embodiment of the present application, the third condition includes: the first fusion target is in a fusion state; the tracking flag of the first fusion target is greater than 0 and remains unchanged; the actual existence probability of the first fusion target is greater than the calibrated probability value.

[0164] In one embodiment of the present application, when the first fusion target satisfies the fourth condition, the check range flag is a first value;

[0165] In one embodiment of the present application, the fourth condition includes: the tracking identifier of the first fused target is greater than 0; the lateral position of the first fused target is less than the calibrated lateral boundary; the longitudinal position of the first fused target is less than the calibrated longitudinal boundary or the target verification longitudinal sight distance; wherein the target verification longitudinal sight distance is the product of the expected distance and the calibrated sight distance gain, and the expected distance is obtained by looking up the table based on the vehicle speed.

[0166] In one embodiment of the present application, the self-check failure flag of the first fusion target is determined according to the self-check step, and the self-check step is performed when the trusted fusion target flag and the in-check range flag of the first fusion target are both the first value;

[0167] In one embodiment of the present application, the self-verification step includes: a processing unit 530, which is also used to continuously collect the longitudinal position and longitudinal speed of the first fusion target and the speed of the vehicle within a preset time period; estimate the longitudinal position deviation of the first fusion target and the vehicle within the preset time period based on the longitudinal speed and the speed of the vehicle, and obtain the longitudinal position estimated deviation; compare the longitudinal position estimated deviation with the longitudinal position actual deviation, and the longitudinal position actual deviation is collected by the vehicle; if the error between the longitudinal position estimated deviation and the longitudinal position actual deviation is less than the second threshold value, then determine that the self-verification failure flag of the first fusion target is the second value.

[0168] In one embodiment of the present application, before verifying at least one fused target through a first standard target to obtain a target verification status set, the processing unit 530 is also used to determine that the fused target existence flag of the first fused target is the first value if the longitudinal distance of the first fused target is less than the size of the longitudinal sight distance of the target verification; wherein, when the fused target existence flag of the first fused target is the first value, it is used to indicate that the first fused target is within the verification range.

[0169] In one embodiment of the present application, before verifying at least one fused target through a first standard target to obtain a target verification state set, the processing unit 530 is also used to calculate the longitudinal collision time of the first fused target based on the standard target mark, longitudinal position, longitudinal speed and vehicle speed of the first fused target.

[0170] In one embodiment of the present application, at least one fused target is verified by a first standard target, and before obtaining the target verification state set, the processing unit 530 is also used to set the minimum lateral collision avoidance interval; if the first fused target satisfies the fifth condition, the lateral hazard mark of the first fused target is determined to be the first value; when the lateral hazard mark is the first value, it is used to indicate that the first fused target is in the danger zone; the fifth condition is that the absolute value of the lateral position of the first fused target is less than the width of the first fused target plus one-half of the width of the vehicle, plus the sum of the minimum lateral collision avoidance interval.

[0171] In one embodiment of the present application, the processing unit 530 is also used to perform point-to-point longitudinal position, lateral position and longitudinal speed parameter matching of the first standard target with each fused target in at least one fused target in sequence to obtain a target verification state set, and the target verification state set includes the verification state of the first standard target.

[0172] In one embodiment of the present application, the target verification state set includes parameter matching results between a first standard target and a second fusion target in at least one fusion target, where the second fusion target is any one of the at least one fusion target; the parameter matching results include lateral verification position results, longitudinal position verification results and longitudinal speed verification results of the first standard target and the second fusion target.

[0173] In one embodiment of the present application, if the first standard target and the second fusion target parameters match successfully, the verification status flag of the first standard target is a first value; or, if the first standard target and the second fusion target parameters do not match successfully, the verification status flag of the first standard target is a third value; when the verification status flag of the first standard target is the third value, it is used to indicate that the verification of the first standard target has failed.

[0174] In one embodiment of the present application, successful matching of the parameters of the first standard target and the second fusion target includes: the lateral verification position result meets the preset lateral position condition, the longitudinal position verification result meets the preset longitudinal position condition, and the longitudinal speed verification result meets the preset longitudinal speed condition.

[0175] In one embodiment of the present application, the at least one fusion target includes a front fusion target, a front-front fusion target, a left fusion target, a left-front fusion target, a right fusion target, and a right-front fusion target;

[0176] In one embodiment of the present application, the processing unit 530 is further used to determine a fused target verification initial value according to the target verification state set; and determine a target verification final value according to the fused target verification initial value.

[0177] In one embodiment of the present application, the target verification status set includes status information of each fused target in at least one fused target.

[0178] In one embodiment of the present application, the processing unit 530 is also used to determine that the initial verification value of the fusion target is a third value if the front fusion target satisfies the first preset state, or the left fusion target satisfies the second preset state, or the right fusion target satisfies the third preset state, or at least one fusion target includes at least one fusion target whose verification state flag is a third value; or, if at least one fusion target includes at least one fusion target whose verification state flag is a first value, the initial verification value of the fusion target is determined to be the first value; otherwise, the initial verification value of the fusion target is determined to be the second value; wherein, when the initial verification value of the fusion target is the third value, it is used to indicate that the current verification of at least one fusion target has failed; when the initial verification value of the fusion target is the first value, it is used to indicate that the current verification of at least one fusion target has succeeded; when the initial verification value of the fusion target is the second value, it is used to indicate that at least one fusion target has not been verified at present.

[0179] In one embodiment of the present application, the processing unit 530 is also used to determine that the final value of the fusion target verification state is a third value if the initial value of the fusion target verification state is a third value and the duration exceeds the first threshold; or, if the horizontal activation flag indicates an activated state, determine that the final value of the fusion target verification state is a first value; or, if the initial value of the fusion target verification state is a second value, determine that the final value of the fusion target verification state is a second value; wherein, when the final value of the fusion target verification state is a third value, it is used to indicate that the verification of at least one fusion target has failed; when the final value of the fusion target verification state is a first value, it is used to indicate that the verification of at least one fusion target has succeeded; when the final value of the fusion target verification is a second value, it is used to indicate that at least one fusion target has not been verified.

[0180] It should be noted that the redundant function fusion target verification device provided in the above embodiment and the redundant function fusion target verification method provided in the above embodiment belong to the same concept, wherein the specific manner in which each module and unit performs the operation has been described in detail in the method embodiment and will not be repeated here. In actual applications, the redundant function fusion target verification device provided in the above embodiment can distribute the above functions to different functional modules as needed, that is, divide the internal structure of the device into different functional modules to complete all or part of the functions described above, and this is not limited here.

[0181] An embodiment of the present application also provides an electronic device, comprising: one or more processors; a storage device for storing one or more programs, and when the one or more programs are executed by the one or more processors, the electronic device implements the fusion target verification method of the redundant functions provided in the above-mentioned embodiments.

[0182] Figure 6 The structure diagram of the computer system suitable for implementing the electronic device of the embodiment of the present application is shown. It should be noted that: Figure 6 The computer system 600 of the electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0183] like Figure 6 As shown, the computer system 600 includes a central processing unit (CPU) 601, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 602 or the program loaded from the storage part 608 to the random access memory (RAM) 603, such as executing the method described in the above embodiment. In the RAM 603, various programs and data required for system operation are also stored. The CPU 601, the ROM 602 and the RAM 603 are connected to each other via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0184] The following components are connected to the I / O interface 605: an input section 606 including a keyboard, a mouse, etc.; an output section 607 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 608 including a hard disk, etc.; and a communication section 609 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to the I / O interface 605 as needed. A removable medium 611, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 610 as needed so that a computer program read therefrom is installed into the storage section 608 as needed.

[0185] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication section 609, and / or installed from a removable medium 611. When the computer program is executed by a central processing unit (CPU) 601, various functions defined in the system of the present application are executed.

[0186] It should be noted that the computer-readable medium shown in the embodiment of the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a 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 above. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, wherein a computer-readable computer program is carried. This propagated data signal can take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. A computer program contained on a computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0187] The flowchart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the system, method and computer program product according to various embodiments of the present application. Wherein, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0188] The units involved in the embodiments described in this application may be implemented by software or hardware, and the units described may also be set in a processor. The names of these units do not, in some cases, constitute limitations on the units themselves.

[0189] Another aspect of the present application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor of a computer, enables the computer to execute the fusion target verification method of redundant functions as described above. The computer-readable storage medium may be included in the electronic device described in the above embodiment, or may exist independently without being assembled into the electronic device.

[0190] Another aspect of the present application also provides a computer program product or a computer program, which includes a computer instruction stored in a computer-readable storage medium. A processor of a computer device reads the computer instruction from the computer-readable storage medium, and the processor executes the computer instruction, so that the computer device executes the fusion target verification method of the redundant function provided in each of the above embodiments.

[0191] The above embodiments are merely illustrative of the principles and effects of the present application, and are not intended to limit the present application. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by a person of ordinary skill in the art without departing from the spirit and technical ideas disclosed in the present application shall still be covered by the claims of the present application.

Claims

1. A method for verifying a fusion target of a redundant function, characterized in that: include: Acquire at least one fusion target, where the at least one fusion target is generated by fusing a camera target and a radar target; Selecting a first standard target from the at least one fused target, where the first standard target is within a verification range; Verifying the at least one fusion target by using the first standard target to obtain a target verification state set; Arbitrating the target verification state set to obtain a fusion target verification state final value corresponding to the at least one fusion target; Wherein, selecting a first standard target from the at least one fusion target includes: Determine a first fusion target from the at least one fusion target, wherein an input check flag, a check enable flag, a trusted fusion target flag, and an in-check range flag of the first fusion target are all first values, and a self-check failure flag of the first fusion target is a second value; Determining the first fusion target as the first standard target; The first standard target includes within the verification scope that the first standard target satisfies the first condition, the second condition, the third condition, the fourth condition and the self-verification does not fail condition; When the first fusion target satisfies the first condition, the input check mark is the first value, which is used to indicate that the input check mark is valid, and the first condition is that the end-to-end detection of the first fusion target passes, and the upper and lower limit range detection passes; wherein the end-to-end detection at least includes a communication loss check, a cyclic redundancy check, and a cycle count check; When the first fusion target satisfies the second condition, the verification enable flag is the first value, which is used to indicate that the first fusion target is to be verified, and the second condition includes: the vehicle speed of the own vehicle is valid; the vehicle speed of the own vehicle is greater than the first threshold; the input verification flag of at least one fusion target is the first value, wherein when the first fusion target is the first value, the input verification flag of at least one fusion target is the first value; the longitudinal activation flag is the first value; When the first fusion target satisfies a third condition, the credible fusion target flag is the first value, which is used to indicate that the first fusion target is a credible fusion target, and the third condition includes: the first fusion target is in a fusion state; the tracking flag of the first fusion target is greater than 0 and remains unchanged; the real existence probability of the first fusion target is greater than the calibrated probability value; When the first fused target meets the fourth condition, the in-verification range flag is the first value, which is used to indicate that the first fused target is within the verification boundary, and the fourth condition includes: the tracking flag of the first fused target is greater than 0; the lateral position of the first fused target is less than the calibrated lateral boundary; the longitudinal position of the first fused target is less than the calibrated longitudinal boundary or the target verification longitudinal sight distance; wherein the target verification longitudinal sight distance is the product of the expected distance and the calibrated sight distance gain, and the expected distance is obtained by looking up the table according to the vehicle speed of the vehicle; When the first fusion target satisfies the self-verification non-failure condition, the self-verification failure flag of the first fusion target is the second value, which is used to indicate that the self-verification of the first fusion target is successful, and the self-verification non-failure condition includes self-verification of the fusion target that meets the third condition and the fourth condition, and the self-verification does not fail.

2. The method according to claim 1, characterized in that The standard target flag of the first fusion target is a first value; When the standard target flag corresponding to the first standard target is the first numerical value, it is used to indicate that the first fusion target is a standard target.

3. The method according to claim 2, characterized in that The self-check failure flag of the first fusion target is determined according to the self-check step, and the self-check step is performed when the trusted fusion target flag of the first fusion target and the in-check range flag are both the first value; The self-checking step comprises: Continuously collecting the longitudinal position and longitudinal speed of the first fusion target and the speed of the vehicle within a preset time period; estimating a longitudinal position deviation between the first fusion target and the own vehicle within the preset time period according to the longitudinal speed and the own vehicle speed, to obtain a longitudinal position estimation deviation; Comparing the estimated longitudinal position deviation with the actual longitudinal position deviation, where the actual longitudinal position deviation is collected by the vehicle; If the error between the estimated longitudinal position deviation and the actual longitudinal position deviation is smaller than a second threshold, the self-check failure flag of the first fusion target is determined to be the second value.

4. The method according to claim 2, characterized in that: Before verifying the at least one fusion target by using the first standard target to obtain a target verification state set, the method further includes: If the longitudinal distance of the first fused target is less than the target verification longitudinal sight distance, determining that the fused target existence flag of the first fused target is the first value; Among them, when the fusion target existence flag of the first fusion target is the first value, it is used to indicate that the first fusion target is within the verification range.

5. The method according to claim 2, characterized in that: Before verifying the at least one fusion target by using the first standard target to obtain a target verification state set, the method further includes: The longitudinal collision time of the first fused target is calculated according to the standard target mark of the first fused target, the longitudinal position, the longitudinal speed and the vehicle speed of the host vehicle.

6. The method according to claim 2, characterized in that Before verifying the at least one fusion target by using the first standard target to obtain a target verification state set, the method further includes: Set the minimum lateral collision avoidance interval; If the first fusion target satisfies the fifth condition, determining that the lateral danger sign of the first fusion target is the first value; when the lateral danger sign is the first value, it is used to indicate that the first fusion target is in a danger zone; The fifth condition is that the absolute value of the lateral position of the first fused target is smaller than the sum of the width of the first fused target plus half of the width of the vehicle plus the minimum lateral collision avoidance interval.

7. The method according to claim 2, characterized in that The verifying the at least one fusion target by using the first standard target to obtain a target verification state set includes: The first standard target is matched with each fused target in the at least one fused target in turn in terms of point-to-point longitudinal position, lateral position and longitudinal speed parameters to obtain the target verification state set, which includes the verification state of the first standard target.

8. The method according to claim 7, characterized in that The target verification state set includes a parameter matching result between the first standard target and a second fusion target in the at least one fusion target, where the second fusion target is any one fusion target in the at least one fusion target; The parameter matching result includes a lateral position verification result, a longitudinal position verification result, and a longitudinal speed verification result of the first standard target and the second fused target.

9. The method according to claim 8, characterized in that If the first standard target and the second fusion target parameters match successfully, the verification status flag of the first standard target is the first value; or, If the first standard target and the second fusion target parameters do not match successfully, the verification status flag of the first standard target is a third value; when the verification status flag of the first standard target is the third value, it is used to indicate that the verification of the first standard target has failed.

10. The method according to claim 9, characterized in that The first standard target and the second fusion target parameter match successfully includes: The lateral position verification result satisfies a preset lateral position condition, the longitudinal position verification result satisfies a preset longitudinal position condition, and the longitudinal speed verification result satisfies a preset longitudinal speed condition.

11. The method according to claim 9, characterized in that The at least one fusion target includes a front fusion target, a front-front fusion target, a left fusion target, a left-front fusion target, a right fusion target, and a right-front fusion target; The arbitrating the target verification state set to obtain a fusion target verification state final value corresponding to the at least one fusion target includes: Determine the fusion target verification initial value according to the target verification state set; The final value of the fusion target verification state is determined according to the initial value of the fusion target verification.

12. The method according to claim 11, characterized in that The target verification state set includes state information of each fusion target in the at least one fusion target; The determining of the fusion target verification initial value according to the target verification state set includes: If the front fusion target satisfies the first preset state, or the left fusion target satisfies the second preset state, or the right fusion target satisfies the third preset state, or the at least one fusion target includes at least one fusion target whose verification state flag is the third value, then the initial verification value of the fusion target is determined to be the third value; or, If the at least one fusion target includes at least one fusion target whose verification status flag is the first value, determining the fusion target verification initial value to be the first value; Otherwise, the determining of the fusion target verification initial value is the second value; Among them, when the initial value of the fusion target verification is the third value, it is used to indicate that the current verification of at least one fusion target has failed; when the initial value of the fusion target verification is the first value, it is used to indicate that the current verification of at least one fusion target has succeeded; when the initial value of the fusion target verification is the second value, it is used to indicate that the at least one fusion target has not been verified at present.

13. The method according to claim 12, characterized in that The determining the fusion target verification state final value according to the fusion target verification initial value includes: If the fusion target verification initial value is the third value and the duration exceeds the first threshold, then determining the fusion target verification state final value to be the third value; or, If the horizontal activation flag indicates an activated state, determining the final value of the fusion target verification state to be the first value; or, If the fusion target verification initial value is the second value, determining the fusion target verification state final value is the second value; Among them, when the final value of the fusion target verification status is the third value, it is used to indicate that the verification of at least one fusion target has failed; when the final value of the fusion target verification status is the first value, it is used to indicate that the verification of at least one fusion target has been successful; when the final value of the fusion target verification status is the second value, it is used to indicate that the at least one fusion target has not been verified.

14. A redundant function fusion target verification device, characterized in that: include An acquisition unit, configured to acquire at least one fusion target, where the at least one fusion target is generated by fusing a camera target and a radar target; A selection unit, configured to select a first standard target from the at least one fusion target, wherein the first standard target is within a verification range; a processing unit, configured to verify the at least one fusion target by using the first standard target to obtain a target verification state set; An arbitration unit, configured to arbitrate the target verification state set to obtain a fusion target verification state final value corresponding to the at least one fusion target; Selecting a first standard target from the at least one fusion target includes: Determine a first fusion target from the at least one fusion target, wherein an input check flag, a check enable flag, a trusted fusion target flag, and an in-check range flag of the first fusion target are all first values, and a self-check failure flag of the first fusion target is a second value; Determining the first fusion target as the first standard target; Wherein, the first standard target within the verification range includes that the first standard target satisfies the first condition, the second condition, the third condition, the fourth condition and the self-verification does not fail condition; When the first fusion target satisfies the first condition, the input check mark is the first value, which is used to indicate that the input check mark is valid, and the first condition is that the end-to-end detection of the first fusion target passes, and the upper and lower limit range detection passes; wherein the end-to-end detection at least includes a communication loss check, a cyclic redundancy check, and a cycle count check; When the first fusion target satisfies the second condition, the verification enable flag is the first value, which is used to indicate that the first fusion target is to be verified, and the second condition includes: the vehicle speed of the own vehicle is valid; the vehicle speed of the own vehicle is greater than the first threshold; the input verification flag of at least one fusion target is the first value, wherein when the first fusion target is the first value, the input verification flag of at least one fusion target is the first value; the longitudinal activation flag is the first value; When the first fusion target satisfies a third condition, the credible fusion target flag is the first value, which is used to indicate that the first fusion target is a credible fusion target, and the third condition includes: the first fusion target is in a fusion state; the tracking flag of the first fusion target is greater than 0 and remains unchanged; the real existence probability of the first fusion target is greater than the calibrated probability value; When the first fused target meets the fourth condition, the in-verification range flag is the first value, which is used to indicate that the first fused target is within the verification boundary, and the fourth condition includes: the tracking flag of the first fused target is greater than 0; the lateral position of the first fused target is less than the calibrated lateral boundary; the longitudinal position of the first fused target is less than the calibrated longitudinal boundary or the target verification longitudinal sight distance; wherein the target verification longitudinal sight distance is the product of the expected distance and the calibrated sight distance gain, and the expected distance is obtained by looking up the table according to the vehicle speed of the vehicle; When the first fusion target satisfies the self-verification non-failure condition, the self-verification failure flag of the first fusion target is the second value, which is used to indicate that the self-verification of the first fusion target is successful, and the self-verification non-failure condition includes self-verification of the fusion target that meets the third condition and the fourth condition, and the self-verification does not fail.

15. An electronic device, characterized in that: The electronic device comprises: one or more processors; A storage device for storing one or more programs, which, when executed by the one or more processors, enables the electronic device to implement the fusion target verification method of the redundant function as described in any one of claims 1 to 13.

16. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and when the computer program is executed by a processor of a computer, the computer is caused to execute the fusion target verification method of redundant functions described in any one of claims 1 to 13.

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