A target vehicle classification method and device, electronic equipment and storage medium

Abstract

The application relates to a target vehicle classification method and device, electronic equipment and a storage medium, and belongs to the technical field of communication. The target vehicle classification method comprises the following steps: acquiring real-time net altitude and altitude history data of a vehicle; obtaining a lifting state of the vehicle according to the real-time net altitude and the altitude history data of the vehicle; the lifting state is used for indicating an altitude change trend of the vehicle; the vehicle comprises a host vehicle and a target vehicle; determining a positional relationship between the host vehicle and the target vehicle according to the lifting state of the host vehicle and the lifting state of the target vehicle; and classifying the target vehicle according to the positional relationship. According to the altitude data of the vehicle, the lifting state of the vehicle is obtained, the positional relationship between the vehicles is determined according to the lifting state, and the classification of the vehicles is avoided due to different altitudes, so that the early warning accuracy is improved.

Description

Technical Field

[0001] This application relates to the field of communication technology, and in particular to a method, apparatus, electronic device and storage medium for classifying target vehicles. Background Technology

[0002] Both V2X-based vehicle classification and labeling methods and early warning information transmission methods perform simple processing on the remote vehicle information received in the BSM message set to identify remote vehicles within a preset range that may pose a threat to the vehicle, thereby outputting classification and early warning results.

[0003] In real-world scenarios, the presence of special roads such as slopes and overpasses can cause inaccurate classification of target vehicles due to the different altitudes of the relative positions of different vehicles, thus seriously affecting the warning accuracy of V2X products. Summary of the Invention

[0004] This application provides a target vehicle classification method, device, electronic device, and storage medium to solve the problem of inaccurate target vehicle classification that may occur due to the different altitudes of the relative positions of different vehicles.

[0005] In a first aspect, embodiments of this application provide a target vehicle classification method, including:

[0006] Obtain real-time net altitude and historical altitude data for the vehicle;

[0007] The vehicle's elevation status is obtained based on the vehicle's real-time net altitude and historical altitude data; the elevation status is used to indicate the vehicle's altitude change trend; the vehicle includes the vehicle itself and the target vehicle.

[0008] Based on the lifting status of this vehicle and the lifting status of the target vehicle, determine the positional relationship between the two vehicles, and classify the target vehicle according to the positional relationship.

[0009] Optionally, the vehicle's elevation status can be obtained based on the vehicle's real-time net altitude and historical altitude data, including:

[0010] Obtain the current time corresponding to the real-time net altitude;

[0011] Determine M consecutive first preset time periods prior to the current time, and extract N altitude data points within each first preset time period from the historical altitude data; M is greater than or equal to 2, and N is greater than or equal to 2.

[0012] Calculate the difference between the altitude data corresponding to every two adjacent time points in the N altitude data, and obtain N-1 altitude difference values;

[0013] Based on the N-1 altitude differences, the vehicle's elevation information within the first preset time period is obtained;

[0014] Based on the M pieces of lifting information, determine the lifting status of the vehicle;

[0015] Optionally, the improvement information includes uphill transition period and downhill transition period;

[0016] Based on the N-1 altitude differences, the vehicle's elevation information within the first preset time period is obtained, including:

[0017] Identify X target altitude differences that are not equal to zero among the N-1 altitude differences; X is less than N;

[0018] Calculate the sum of the elevation differences of the X targets;

[0019] When X is greater than or equal to the first threshold, and the absolute value of the sum of the X target altitude differences is greater than the second threshold, if the sum of the X target altitude differences is positive, the improvement information is determined to be the downhill transition period; if the sum of the X target altitude differences is negative, the improvement information is determined to be the uphill transition period.

[0020] Optionally, the lifting state includes a flat road state, an uphill state, and a downhill state; determining the lifting state of the vehicle based on the M lifting information includes:

[0021] When M consecutive boost messages are all from the uphill transition period, it is determined that the vehicle is in an uphill state;

[0022] When M consecutive boost messages are all from the downhill transition period, it is determined that the vehicle is in a downhill state;

[0023] Otherwise, determine that the vehicle is on a level road;

[0024] Optionally, before determining the positional relationship between the vehicle and the target vehicle based on the lifting state of the vehicle and the target vehicle, the method further includes:

[0025] The net altitude difference is obtained based on the real-time net altitude of the vehicle and the real-time net altitude of the target vehicle.

[0026] The absolute value of the net elevation difference is determined to be less than or equal to a third threshold and greater than a fourth threshold; the third threshold is greater than the fourth threshold.

[0027] Optionally, determining the positional relationship between the vehicle and the target vehicle based on the vehicle's lifting state and the target vehicle's lifting state includes:

[0028] When the first vehicle is going uphill and the second vehicle is going downhill, the positional relationship between the first vehicle and the second vehicle is determined to be non-threatening; wherein, the vehicle with the higher altitude value between the vehicle and the target vehicle is designated as the first vehicle, and the vehicle with the lower altitude value between the vehicle and the target vehicle is designated as the second vehicle.

[0029] When the lifting states of the first vehicle and the second vehicle are both uphill or both downhill, the position information of the first vehicle and the position information of the second vehicle are obtained, and the positional relationship between the first vehicle and the second vehicle is determined based on the position information of the first vehicle and the position information of the second vehicle.

[0030] When both the first vehicle and the second vehicle are in a level road state, the historical transition path information of the first vehicle in the most recent transition period is obtained; the current position information of the second vehicle is obtained, and the point closest to the current position information and the historical transition path information is determined; if the closest point is the starting point in the historical transition path information, the positional relationship between the first vehicle and the second vehicle is determined based on the position information of the first vehicle and the second vehicle; if the closest point is not the starting point in the historical transition path information, the positional relationship between the first vehicle and the second vehicle is determined to be non-threatening.

[0031] Optionally, the vehicle with the higher altitude value between the vehicle and the target vehicle is designated as the first vehicle, and the vehicle with the lower altitude value between the vehicle and the target vehicle is designated as the second vehicle.

[0032] Based on the lifting status of the vehicle and the target vehicle, the positional relationship between the vehicle and the target vehicle is determined, including:

[0033] When the first vehicle is going downhill and the second vehicle is going uphill, the first driving direction of the vehicle and the second driving direction of the target vehicle are obtained; if the angle between the first driving direction and the second driving direction is within a first preset angle range, the positional relationship between the first vehicle and the second vehicle is determined based on the position information of the first vehicle and the second vehicle; if the angle is not within the first preset angle range, the positional relationship between the first vehicle and the second vehicle is determined to be non-threatening; the angle range of the first preset angle range is greater than or equal to the first angle and less than or equal to the second angle.

[0034] Optionally, the vehicle with the higher altitude value between the vehicle and the target vehicle is designated as the first vehicle, and the vehicle with the lower altitude value between the vehicle and the target vehicle is designated as the second vehicle.

[0035] Based on the lifting status of the vehicle and the target vehicle, the positional relationship between the vehicle and the target vehicle is determined, including:

[0036] When the first vehicle is going downhill and the second vehicle is on a flat road, or when the first vehicle is on a flat road and the second vehicle is going uphill, or when the first vehicle is going uphill and the second vehicle is on a flat road, or when the first vehicle is on a flat road and the second vehicle is going downhill, the vehicle going uphill or going downhill is designated as the third vehicle, and the vehicle on a flat road is designated as the fourth vehicle.

[0037] Based on the current location information and driving direction of the third vehicle, and the current location information and driving direction of the fourth vehicle, the front-to-back relationship between the third vehicle and the fourth vehicle is determined.

[0038] If the fourth vehicle is the following vehicle, obtain the historical path information of the third vehicle, calculate the point closest to the current location information of the fourth vehicle and the historical path information; obtain the altitude value of the closest point; calculate the first difference between the altitude value and the real-time net altitude of the fourth vehicle; if the first difference is less than a fifth threshold, determine the positional relationship between the first vehicle and the second vehicle based on the position information of the third vehicle and the fourth vehicle; if the first difference is greater than or equal to the fifth threshold, determine that the positional relationship between the first vehicle and the second vehicle is non-threatening.

[0039] If the fourth vehicle is the preceding vehicle, obtain the historical path information of the third vehicle, determine Y second preset time intervals before the current moment, and extract each third angle corresponding to each second preset time interval from the historical path information. The third angle is used to characterize the slope of the current position of the third vehicle. Obtain the fourth angle of the fourth vehicle, which is used to characterize the angle between the first straight line determined by the current position information of the fourth vehicle and the current position information of the third vehicle and the horizontal plane. Among the Y third angles, when the fourth angle is less than or equal to S third angles, determine the positional relationship between the first vehicle and the second vehicle based on the position information of the first vehicle and the second vehicle. When the fourth angle is greater than S third angles, determine that the positional relationship between the first vehicle and the second vehicle is non-threatening. S is less than or equal to Y, and S is greater than or equal to 1.

[0040] Optionally, a third angle corresponding to a second preset duration is extracted from the historical path information, including:

[0041] Extract the first altitude information and the first location information corresponding to the second preset duration from the historical path information; obtain the second altitude information and the second location information at the current moment; determine the first altitude difference based on the first altitude information and the second altitude information; determine the first horizontal distance based on the first location information and the second location information; and determine the third angle based on the first altitude difference and the first horizontal distance.

[0042] Obtaining the fourth angle of the fourth vehicle includes:

[0043] Obtain the third altitude information and third position information of the fourth vehicle at the current moment; determine the second altitude difference based on the second altitude information and the third altitude information; determine the second horizontal distance based on the second position information and the third position information; and determine the fourth angle based on the second altitude difference and the second horizontal distance.

[0044] Optionally, when the angle between the driving direction of the third vehicle and the driving direction of the fourth vehicle falls within a second preset angle range, the second horizontal distance is determined based on the second position information and the third position information, including:

[0045] The second straight line is determined based on the third position information and historical position information of the fourth vehicle;

[0046] Based on the second position information of the second straight line and the third vehicle, the second horizontal distance between the third vehicle and the second straight line is determined.

[0047] Secondly, embodiments of this application provide a target vehicle classification device, including:

[0048] The acquisition module is used to acquire the vehicle's real-time net altitude and historical altitude data.

[0049] The calculation module is used to obtain the vehicle's elevation status based on the vehicle's real-time net altitude and historical altitude data; the elevation status is used to indicate the vehicle's altitude change trend; the vehicle includes the vehicle itself and the target vehicle.

[0050] The classification module is used to determine the positional relationship between the vehicle and the target vehicle based on the lifting status of the vehicle and the target vehicle, and to classify the target vehicle according to the positional relationship.

[0051] Thirdly, embodiments of this application provide an electronic device, including: a processor, a memory, and a communication bus, wherein the processor and the memory communicate with each other through the communication bus;

[0052] The memory is used to store computer programs;

[0053] The processor is configured to execute the program stored in the memory to implement the target vehicle classification method according to any one of the first aspects of the claim.

[0054] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the target vehicle classification method described in any of the first aspects.

[0055] Compared with the prior art, the technical solution provided in this application has the following advantages: The method provided in this application acquires the real-time net altitude and historical altitude data of a vehicle; based on the real-time net altitude and historical altitude data, it obtains the vehicle's elevation status; the elevation status is used to indicate the vehicle's altitude change trend; the vehicle includes the vehicle itself and a target vehicle; based on the elevation status of the vehicle itself and the target vehicle, it determines the positional relationship between the vehicle itself and the target vehicle, and classifies the target vehicle based on the positional relationship. This method obtains the vehicle's elevation status based on the vehicle's altitude data, determines the positional relationship and classification between vehicles based on the elevation status, avoids classification errors caused by different altitudes between vehicles, and improves the accuracy of early warning. Attached Figure Description

[0056] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0057] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0058] Figure 1 This is a schematic diagram illustrating a scenario where vehicles are at different altitudes in a target vehicle classification method according to an embodiment of this application.

[0059] Figure 2 This is a schematic diagram of a crossroads scenario containing a slope in a target vehicle classification method according to an embodiment of this application.

[0060] Figure 3 This is a flowchart illustrating a target vehicle classification method in an embodiment of this application;

[0061] Figure 4 This is a schematic diagram illustrating a judgment scenario for a target vehicle classification method in an embodiment of this application;

[0062] Figure 5This is a schematic diagram illustrating another judgment scenario for a target vehicle classification method in this application embodiment;

[0063] Figure 6 This is a schematic diagram illustrating another judgment scenario for a target vehicle classification method in this application embodiment;

[0064] Figure 7 This is a schematic diagram illustrating another judgment scenario for a target vehicle classification method in this application embodiment;

[0065] Figure 8 This is a flowchart illustrating another target vehicle classification method in an embodiment of this application;

[0066] Figure 9 This is a schematic diagram of the structure of a target vehicle classification device in an embodiment of this application;

[0067] Figure 10 This is a schematic diagram of the structure of an electronic device according to an embodiment of this application. Detailed Implementation

[0068] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0069] The method provided in this application embodiment can be applied to electronic devices, specifically modules capable of communication functions or terminal devices containing such modules. The terminal device can be a mobile terminal or a smart terminal. Specifically, a mobile terminal can be at least one of a mobile phone, tablet computer, or laptop computer; a smart terminal can be a smart car, smartwatch, shared bicycle, smart locker, or other terminal containing a wireless communication module; and the module can be any one of a wireless communication module, such as a 2G communication module, a 3G communication module, a 4G communication module, a 5G communication module, or an NB-IoT communication module.

[0070] The target vehicle classification method provided in the first embodiment of this application can be applied to special roads such as slopes or overpasses, that is, scenarios where vehicles may be at different altitudes, such as... Figure 1 As shown or as Figure 2As shown, this method can determine the positional relationship between the vehicle and the target vehicle using altitude information, and then classify the target vehicle. This solves the problem of inaccurate target vehicle classification caused by the different altitudes of different vehicles in these special roads, and improves the warning accuracy of V2X products. V2X stands for Vehicle to X, which means vehicle to everything, i.e., the exchange of information between the vehicle and the outside world.

[0071] The following section provides a detailed explanation of this method, a target vehicle classification method, such as... Figure 3 ,include:

[0072] Step 301: Obtain the vehicle's real-time net altitude and historical altitude data.

[0073] Step 302: Based on the vehicle's real-time net altitude and historical altitude data, obtain the vehicle's elevation status; the elevation status is used to indicate the vehicle's altitude change trend; the vehicle includes the vehicle itself and the target vehicle (wherein, the target vehicle can also be referred to as the remote vehicle).

[0074] Step 303: Determine the positional relationship between the vehicle and the target vehicle based on the lifting status of the vehicle and the target vehicle, and classify the target vehicle according to the positional relationship.

[0075] This method obtains the vehicle's elevation status based on the vehicle's altitude data, determines the positional relationship and classification between vehicles based on the elevation status, avoids inaccurate classification caused by different altitudes, and improves the accuracy of early warning.

[0076] In one embodiment, the vehicle's elevation status is determined based on the vehicle's real-time net altitude and historical altitude data, including:

[0077] Obtain the current moment corresponding to the real-time net altitude; determine the M consecutive first preset time periods before the current moment, and extract N altitude data within each first preset time period from the historical altitude data; M is greater than or equal to 2, and N is greater than or equal to 2; calculate the difference between the altitude data corresponding to every two adjacent moments in the N altitude data, and obtain N-1 altitude difference values; obtain the vehicle's lifting information within the first preset time period based on the N-1 altitude difference values; determine the vehicle's lifting status based on the M lifting information values.

[0078] The elevation information includes uphill transition periods and downhill transition periods. Based on N-1 elevation differences, the vehicle's elevation information within the first preset time period is obtained, including:

[0079] Identify X target altitude differences that are not equal to zero from N-1 altitude differences; X is less than N; calculate the sum of the X target altitude differences; when X is greater than or equal to the first threshold and the absolute value of the sum of the X target altitude differences is greater than the second threshold, if the sum of the X target altitude differences is positive, determine that the elevation information is a downhill transition period; if the sum of the X target altitude differences is negative, determine that the elevation information is an uphill transition period.

[0080] The lifting status includes flat road status, uphill status, and downhill status. Based on M lifting information, the lifting status of the vehicle is determined, including: when M consecutive lifting information are all uphill transition periods, the vehicle is determined to be in uphill status; when M consecutive lifting information are all downhill transition periods, the vehicle is determined to be in downhill status; otherwise, the vehicle is determined to be in flat road status.

[0081] In this embodiment, it is crucial to determine the vehicle's state at different altitudes, such as uphill, downhill, or flat road conditions. By determining the vehicle's state, we can obtain the vehicle's driving behavior and thus classify complex scenarios.

[0082] In this embodiment, the elevation status is used to describe the vehicle's status. For example, elevation status can have 5 values: 0 (flat road), 1 (uphill), 2 (downhill), 3 (uptransition), and 4 (downtransition).

[0083] In this embodiment, the classification of the transition period can be determined by the vehicle's elevation_status before the transition period, with a default value of 0. After startup, the on-board unit can continuously record the vehicle's location information (such as latitude and longitude) and altitude data. For example, the on-board unit continuously acquires the vehicle's real-time net altitude and stores it in the vehicle's altitude database as the vehicle's historical altitude data. When it is necessary to calculate the current elevation status, the altitude difference array within 1 second (sampling at 10Hz, collecting 10 historical altitude data points per second) can be calculated using the historical altitude data. Here, the first threshold can be 3, the second threshold can be 10, and the first preset duration can be 1 second. In this case, an altitude difference array includes 9 altitude differences.

[0084] In other words, the difference array is obtained by subtracting 10 altitude data points collected within 1 second. For example, the first value of the difference array is obtained by subtracting the second altitude data point from the first altitude data point, the second value of the difference array is obtained by subtracting the third altitude data point from the second altitude data point, and so on.

[0085] After obtaining the difference array within 1 second (that is, these 9 altitude differences), the number of non-zero differences will be counted. If the count of non-zero differences is greater than the first threshold (e.g., 3) and the absolute value of the sum of differences in the difference array is greater than the second threshold (e.g., 10), then proceed to the next step of analysis (if driving on a flat road, the difference array will be all 0, and it will be counted continuously).

[0086] If there are three or more differences within 1 second and the sum of the differences is greater than 10 or less than -10 (in decimeters, or 0.1m), then the transition period begins. If the sum of the differences is positive, it is called DownTransition; if the sum of the differences is negative, it is called UpTransition.

[0087] Calculate the elevation difference for the three consecutive 1-second intervals prior to the current moment. If the result for each 1-second interval is UpTransition, then elevation_status is Uphill; if the result for each interval is DownTransition, then elevation_status is Downhill.

[0088] When elevation_status is Uphill or Downhill, if there are 3 consecutive seconds of difference arrays where the difference values ​​do not have the same sign or there are fewer than 3 differences with the same sign, then elevation_status is converted to 0 (flat road).

[0089] It should be noted that the first threshold of 3 and the second threshold of 10 in this embodiment are only for illustrative purposes and are easy to understand. The first threshold and the second threshold can be flexibly set as needed and are not restricted.

[0090] It should be noted that all algorithms in this embodiment are calculated in the application layer of the V2X protocol stack. After receiving the positioning information of the vehicle and the remote vehicle through the V2X protocol stack, the data is transmitted to the application layer for calculation and status judgment. The V2X protocol stack is deployed in the on-board unit (OBU), and the vehicle can be any vehicle equipped with an OBU.

[0091] In one embodiment, before determining the positional relationship between the vehicle and the target vehicle based on the lifting state of the vehicle and the target vehicle, the method further includes: obtaining a net altitude difference based on the real-time net altitude of the vehicle and the real-time net altitude of the target vehicle; determining that the absolute value of the net altitude difference is less than or equal to a third threshold and greater than a fourth threshold; the third threshold is greater than the fourth threshold.

[0092] In this embodiment, the third threshold means that if the altitude difference between the two vehicles is greater than the threshold, then the two vehicles are definitely not related to any threat. The fourth threshold means that if the altitude difference between the two vehicles is less than the threshold, then the two vehicles are definitely on the same plane and there is a related threat.

[0093] When the absolute value of the altitude difference between the two vehicles is less than or equal to the third threshold and greater than the fourth threshold, the vehicles may be going up or down slopes, and there is an altitude difference, but the altitude difference is not large. The positional relationship between the two vehicles under this condition can be determined according to the following method.

[0094] In one embodiment, the positional relationship between the vehicle and the target vehicle is determined based on the lifting state of the vehicle and the target vehicle. Specifically, this can be determined in the following way. For ease of understanding and calculation, the vehicle with the higher altitude value between the vehicle and the target vehicle is designated as the first vehicle, and the vehicle with the lower altitude value between the vehicle and the target vehicle is designated as the second vehicle. In this case, the relationship between the first vehicle and the second vehicle includes at least the following five possibilities:

[0095] In the first scenario, when the first vehicle is going uphill and the second vehicle is going downhill, the positional relationship between the two vehicles is determined to be non-threatening. In this scenario, since the real-time net altitude of the first vehicle is higher than that of the second vehicle, the altitude difference between the two vehicles will increase as the first vehicle goes uphill and the second vehicle goes downhill. Therefore, the positional relationship between the first and second vehicles can be directly determined to be non-threatening, eliminating the need for further classification based on their latitude and longitude information, thus saving computational resources and improving classification efficiency.

[0096] In the second scenario, when both the first and second vehicles are in an uphill or downhill state, the position information of both vehicles is obtained, and their positional relationship is determined based on this information. In this second scenario, since both vehicles are either uphill or downhill, it's impossible to further determine whether the elevation difference between them is gradually decreasing or increasing. Therefore, it's necessary to further combine the positional information of both vehicles to determine their positional relationship.

[0097] The third scenario occurs when both the first and second vehicles are in a level road condition during lifting. Figure 1For vehicles No. 6 and No. 8, obtain the historical transition path information of the first vehicle in the most recent transition period; obtain the current location information of the second vehicle, and determine the point closest to the current location information and the historical transition path information; if the closest point is the starting point in the historical transition path information, determine the positional relationship between the first vehicle and the second vehicle based on the position information of the first vehicle and the second vehicle; if the closest point is not the starting point in the historical transition path information, determine that the positional relationship between the first vehicle and the second vehicle is non-threatening.

[0098] In the third scenario, when both the vehicle and the distant vehicle are on level ground, if we disregard... Figure 1 Regarding the situation with vehicles #6 and #8, this scenario is directly classified as no threat from either vehicle. If we consider... Figure 1 In the scenario involving vehicles 6 and 8, the historical path from the transition period of vehicle 8 (higher altitude) to the end is obtained, and the nearest point on the historical path to the distant vehicle is calculated. If it is the starting point (not the latest point) on the historical path, the relative positions of the two vehicles are further determined; otherwise, the vehicles are classified as posing no threat. This method supports cases where the historical path of the preceding vehicle covers that of the following vehicle, and vehicles 8 and 14 can only be classified as posing no threat.

[0099] The fourth scenario occurs when the first vehicle is going downhill and the second vehicle is going uphill, such as... Figure 1 Cars No. 2 and No. 7, or, as Figure 4 For vehicle 1 and vehicle 2, obtain the first driving direction of the vehicle and the second driving direction of the target vehicle; if the angle between the first driving direction and the second driving direction is within a first preset angle range, determine the positional relationship between the first vehicle and the second vehicle based on the positional information of the first vehicle and the second vehicle; if the angle is not within the first preset angle range, determine that the positional relationship between the first vehicle and the second vehicle is non-threatening; the angle range of the first preset angle range is greater than or equal to the first angle and less than or equal to the second angle.

[0100] Because the headings of the vehicle and the distant vehicle differ in these two scenarios, it is necessary to determine their headings. If the vector angle between the headings of the two vehicles falls within a first preset angle range, such as 135° to 225° (i.e., vehicles approaching from opposite directions), then the relative positions of the two vehicles are further determined; otherwise, the two vehicles pose no threat. It should be noted that the first preset angle range, with 135° as the first angle and 225° as the second angle, is merely an example and is not specifically limited.

[0101] In the fifth scenario, when the first vehicle is going downhill and the second vehicle is on a flat road, or when the first vehicle is on a flat road and the second vehicle is going uphill, or when the first vehicle is going uphill and the second vehicle is on a flat road, or when the first vehicle is on a flat road and the second vehicle is going downhill, for ease of understanding and calculation, the vehicle going uphill or downhill is considered the third vehicle, and the vehicle on a flat road is considered the fourth vehicle.

[0102] Based on the current location and direction of travel of both the third and fourth vehicles, determine their relative positions. The determination method varies depending on the specific relative position, as follows:

[0103] If the fourth vehicle is the following vehicle, obtain the historical path information of the third vehicle, calculate the closest point between the current location information of the fourth vehicle and the historical path information; obtain the altitude value of the closest point; calculate the first difference between the altitude value and the real-time net altitude of the fourth vehicle; if the first difference is less than the fifth threshold, determine the positional relationship between the first vehicle and the second vehicle based on the position information of the third vehicle and the fourth vehicle; if the first difference is greater than or equal to the fifth threshold, determine that the positional relationship between the first vehicle and the second vehicle is non-threatening.

[0104] The scenario for this branch can be simplified as follows: Figure 5 The classification method for this scenario is to take the vehicle on the slope as the "primary vehicle" and classify the distant vehicles in a two-dimensional hierarchy, i.e., ... Figure 5 The dashed lines for vehicles 5 and 6 are separated to the left and right. If the distant vehicle is the following vehicle, the nearest point from the current position of the distant vehicle to the historical path of this vehicle is calculated, the altitude of the nearest point is obtained, and the difference between the altitude of the nearest point and the current altitude of the distant vehicle is calculated. If it is less than the fifth threshold, the relative position of the two vehicles is further judged; otherwise, the two vehicles are classified as not threatening.

[0105] If the fourth vehicle is the preceding vehicle, obtain the historical path information of the third vehicle, determine the Y second preset time intervals before the current moment, and extract each third angle corresponding to each second preset time interval from the historical path information. The third angle is used to characterize the slope of the current position of the third vehicle. Obtain the fourth angle of the fourth vehicle, which is used to characterize the angle between the first straight line determined by the current position information of the fourth vehicle and the current position information of the third vehicle and the horizontal plane. Among the Y third angles, when the fourth angle is less than or equal to S third angles, determine the positional relationship between the first vehicle and the second vehicle based on the position information of the first vehicle and the second vehicle. When the fourth angle is greater than S third angles, determine that the positional relationship between the first vehicle and the second vehicle is non-threatening. S is less than or equal to Y, and S is greater than or equal to 1.

[0106] Among them, the third angle corresponding to the second preset duration is extracted from the historical path information, including:

[0107] Extract the first altitude information and the first location information corresponding to the second preset duration from the historical path information; obtain the second altitude information and the second location information at the current moment; determine the first altitude difference based on the first altitude information and the second altitude information; determine the first horizontal distance based on the first location information and the second location information; and determine the third angle based on the first altitude difference and the first horizontal distance.

[0108] Obtain the fourth angle of the fourth vehicle, including:

[0109] Obtain the third altitude information and third position information of the fourth vehicle at the current moment; determine the second altitude difference based on the second altitude information and the third altitude information; determine the second horizontal distance based on the second position information and the third position information; and determine the fourth angle based on the second altitude difference and the second horizontal distance.

[0110] In this embodiment, if the fourth vehicle is determined to be the preceding vehicle, then as follows: Figure 6 Obtain the altitude and latitude / longitude of the vehicle one second before its current location in its historical path, and calculate the angle based on the altitude difference and two-dimensional distance. Similarly, calculate and when If so, the two vehicles are classified as posing no threat; otherwise, such as The position of the fourth vehicle needs to be determined by further information such as latitude and longitude to determine the relative positions of the two vehicles.

[0111] To better describe the slope of the road using angles, the position of the vehicle 5 seconds before the current position at the start of the transition period can be used. One angle is calculated every second. If 4 out of 5 angles meet the judgment condition, the judgment condition is considered to be valid.

[0112] In one embodiment, when the angle between the driving direction of the third vehicle and the driving direction of the fourth vehicle falls within a second preset angle range, determining the second horizontal distance based on the second position information and the third position information includes:

[0113] The second straight line is determined based on the third position information and historical position information of the fourth vehicle;

[0114] Based on the second position information of the second straight line and the third vehicle, determine the second horizontal distance between the third vehicle and the second straight line.

[0115] In this embodiment, as Figure 7, for the cross - road scenario with slopes, in this scenario, the classification of vehicle No. 3 and vehicle No. 2 can refer to the fifth case above, while the classification of vehicle No. 1 and vehicle No. 2 requires first connecting the current point of vehicle No. 1 with the previous point of the current point to determine the straight line L1; calculating the distance d from vehicle No. 2's longitude and latitude to L1; and then judging whether to continue classifying vehicle No. 1 according to the fifth case above.

[0116] In the above various scenarios, through less data, the relative position relationship between the two vehicles is deeply analyzed; it covers more complex scenarios in the actual road conditions, meets the needs of daily driving, and improves the effectiveness of the product.

[0117] It should be noted that ele_HV refers to the elevation of the host vehicle, ele_RV refers to the elevation of the remote vehicle, HV_elevation_status refers to the elevation_status of the host vehicle, RV_elevation_status refers to the elevation_status of the remote vehicle, ele_difference refers to the elevation difference between the host vehicle and the remote vehicle, d refers to the 2 - D distance between the host vehicle and the remote vehicle, the right arrow refers to the elevation_status being the flat - road state 0, the downward arrow refers to the elevation_status being the downhill state 2, and the upward arrow refers to the elevation_status being the uphill state 1.

[0118] It should be noted that the above five judgment cases only include ele_HV > ele_RV, which is to judge which vehicle is at a higher elevation position, and the five - case judgment is based on the vehicle with a higher elevation. When ele_HV < ele_RV, there are still the same five judgment cases, which will not be elaborated here.

[0119] If ele_HV = ele_RV, then directly conduct the relative - position classification in the 2 - D plane, because when the two vehicles are at the same elevation, there must be a relevant threat relationship.

[0120] In one embodiment, a method for classifying target vehicles is as Figure 8 , and the method includes:

[0121] Step 801, input the elevation information of the host vehicle and the remote vehicle;

[0122] Step 802, analyze and obtain the elevation status of the host vehicle and the remote vehicle;

[0123] Step 803, judge whether the absolute value of the elevation difference between the host vehicle and the remote vehicle is greater than the third threshold; if so, determine that there is no threat between the two vehicles, if not, execute Step 804;

[0124] Step 804: Determine whether the absolute value of the altitude difference between the current vehicle and the distant vehicle is less than the fourth threshold; if yes, proceed to step 810; if no, proceed to step 805.

[0125] Step 805: Determine that the altitude of this vehicle is greater than that of the distant vehicle, and then proceed with steps 806-810 respectively;

[0126] Step 806: If the vehicle is in a downhill state and the distant vehicle is in an uphill state, the judgment shall be made according to the fourth case in the above embodiment.

[0127] Step 807: If the altitude of this vehicle is flat and the altitude of the distant vehicle is flat, then the judgment shall be made according to the third case in the above embodiment.

[0128] Step 808: If the vehicle's altitude is downhill and the distant vehicle's altitude is flat, or the vehicle's altitude is flat and the distant vehicle's altitude is uphill, or the vehicle's altitude is uphill and the distant vehicle's altitude is flat, or the vehicle's altitude is flat and the distant vehicle's altitude is downhill, then the fifth case in the above embodiment shall be used for judgment.

[0129] Step 809: If the vehicle is at an uphill altitude and the distant vehicle is at a downhill altitude, then the two vehicles are deemed not to be a threat, according to the first case in the above embodiment.

[0130] Step 810: If the altitude of this vehicle is uphill and the altitude of the distant vehicle is uphill, or if the altitude of this vehicle is downhill and the altitude of the distant vehicle is downhill, then the relative position determination of the two vehicles shall continue according to the second case in the above embodiment.

[0131] In this embodiment, the target vehicle classification scheme based on V2X under different altitude road conditions can solve the problem of inaccurate target vehicle classification in real-world scenarios, where the presence of special roads such as slopes and overpasses causes different relative altitudes of different vehicles. This improves classification accuracy and thus enhances the warning accuracy of V2X products. Furthermore, by utilizing altitude data from received BSM messages, vehicles are classified under multiple scenarios, improving the efficiency and accuracy of analysis and processing.

[0132] Based on the same concept, this application provides a target vehicle classification device. The specific implementation of this device can be found in the description of the method embodiments section; repeated details will not be repeated here. Figure 9 As shown, the device mainly includes:

[0133] The acquisition module 901 is used to acquire the vehicle's real-time net altitude and historical altitude data.

[0134] The calculation module 902 is used to obtain the vehicle's elevation status based on the vehicle's real-time net altitude and historical altitude data; the elevation status is used to indicate the vehicle's altitude change trend; the vehicle includes the vehicle itself and the target vehicle.

[0135] The classification module 903 is used to determine the positional relationship between the vehicle and the target vehicle based on the lifting status of the vehicle and the target vehicle, and to classify the target vehicle according to the positional relationship.

[0136] In this embodiment, the acquisition module 901 acquires the vehicle's altitude data, the calculation module 902 obtains the vehicle's elevation status based on the altitude data, and the classification module 903 determines the positional relationship and classification between vehicles based on the elevation status, thus avoiding inaccurate classification caused by different altitudes between vehicles and improving the accuracy of early warning.

[0137] Based on the same concept, this application also provides an electronic device, such as... Figure 10 As shown, the electronic device mainly includes a processor 1001, a memory 1002, and a communication bus 1003. The processor 1001 and the memory 1002 communicate with each other via the communication bus 1003. The memory 1002 stores programs that can be executed by the processor 1001. The processor 1001 executes the programs stored in the memory 1002 to perform the following steps:

[0138] Obtain real-time net altitude and historical altitude data for the vehicle;

[0139] The vehicle's elevation status is obtained based on the vehicle's real-time net altitude and historical altitude data; the elevation status is used to indicate the vehicle's altitude change trend; the vehicle includes the vehicle itself and the target vehicle.

[0140] Based on the lifting status of this vehicle and the lifting status of the target vehicle, the positional relationship between the two vehicles is determined, and the target vehicle is classified according to the positional relationship.

[0141] The communication bus 1003 mentioned in the above electronic device can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus 1003 can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 10 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0142] The memory 1002 may include random access memory (RAM) or non-volatile memory, such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor 1001.

[0143] The processor 1001 mentioned above can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc., or a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0144] In another embodiment of this application, a computer-readable storage medium is also provided, which stores a computer program that, when run on a computer, causes the computer to perform the target vehicle classification method described in the above embodiments.

[0145] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. This computer program product includes one or more computer instructions. When these computer instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another, for example, computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, microwave, etc.) means. The computer-readable storage medium can be any available medium accessible to a computer or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape, etc.), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state drive), etc.

[0146] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0147] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A method of classifying a target vehicle, characterized by, The method comprises the following steps: obtaining real-time net altitude and altitude history data of a vehicle; obtaining an elevation state of the vehicle according to the real-time net altitude and the altitude history data of the vehicle; the elevation state is used to indicate an altitude change trend of the vehicle; the vehicle comprises a host vehicle and a target vehicle; determining a positional relationship between the host vehicle and the target vehicle according to the elevation state of the host vehicle and the elevation state of the target vehicle, and classifying the target vehicle according to the positional relationship; wherein, determining the positional relationship between the host vehicle and the target vehicle according to the elevation state of the host vehicle and the elevation state of the target vehicle comprises: when the first vehicle is in an uphill state and the second vehicle is in a downhill state, determining that the positional relationship between the first vehicle and the second vehicle is non-threatening; wherein, the vehicle with a higher altitude value between the host vehicle and the target vehicle is taken as the first vehicle, and the vehicle with a lower altitude value between the host vehicle and the target vehicle is taken as the second vehicle; when the elevation state of the first vehicle and the elevation state of the second vehicle are both in an uphill state or both in a downhill state, obtaining position information of the first vehicle and position information of the second vehicle, and determining the positional relationship between the first vehicle and the second vehicle according to the position information of the first vehicle and the position information of the second vehicle; when the elevation state of the first vehicle and the elevation state of the second vehicle are both in a flat road state, obtaining historical transition period path information of the first vehicle in the last transition period, obtaining current position information of the second vehicle, determining a point closest to the historical transition period path information in the current position information, and determining the positional relationship between the first vehicle and the second vehicle according to the position information of the first vehicle and the position information of the second vehicle if the point closest to the historical transition period path information is a starting point in the historical transition period path information, or determining that the positional relationship between the first vehicle and the second vehicle is non-threatening if the point closest to the historical transition period path information is not the starting point in the historical transition period path information.

2. The method of claim 1, wherein, obtaining the elevation state of the vehicle according to the real-time net altitude and the altitude history data of the vehicle comprises: obtaining a current time corresponding to the real-time net altitude; determining M consecutive first preset time lengths before the current time, and extracting N altitude data in each of the first preset time lengths from the altitude history data; M is greater than or equal to 2, and N is greater than or equal to 2; calculating a difference value between altitude data corresponding to two adjacent times in the N altitude data to obtain N-1 altitude difference values; obtaining elevation information of the vehicle in the first preset time length according to the N-1 altitude difference values; determining the elevation state of the vehicle according to M elevation information.

3. The method of claim 2, wherein, the elevation information comprises an uphill transition period and a downhill transition period; obtaining the elevation information of the vehicle in the first preset time length according to the N-1 altitude difference values comprises: determining X target altitude difference values in the N-1 altitude difference values that are not equal to zero; X is less than N; calculating a sum of the X target altitude difference values; When X is greater than or equal to a first threshold value, and an absolute value of a sum of the X target elevation difference values is greater than a second threshold value, if the sum of the X target elevation difference values is positive, the lifting information is determined as the downhill transition period, and if the sum of the X target elevation difference values is negative, the lifting information is determined as the uphill transition period.

4. The method of claim 3, wherein, The lifting state includes a flat road state, an uphill state and a downhill state; and the lifting state of the vehicle is determined according to the M lifting information, including: When the M consecutive lifting information are all the uphill transition period, it is determined that the vehicle is in the uphill state; When the M consecutive lifting information are all the downhill transition period, it is determined that the vehicle is in the downhill state; Otherwise, it is determined that the vehicle is in the flat road state.

5. The method of claim 1, wherein, Before determining the position relationship between the host vehicle and the target vehicle according to the lifting state of the host vehicle and the lifting state of the target vehicle, the method further includes: According to the real-time net elevation of the host vehicle and the real-time net elevation of the target vehicle, a net elevation difference is obtained; It is determined that an absolute value of the net elevation difference is less than or equal to a third threshold value and greater than a fourth threshold value; the third threshold value is greater than the fourth threshold value.

6. The method of claim 5, wherein, The vehicle with a higher elevation value between the host vehicle and the target vehicle is taken as a first vehicle, and the vehicle with a lower elevation value between the host vehicle and the target vehicle is taken as a second vehicle; The position relationship between the host vehicle and the target vehicle is determined according to the lifting state of the host vehicle and the lifting state of the target vehicle, including: When the first vehicle is in the downhill state and the second vehicle is in the uphill state, a first driving direction of the host vehicle and a second driving direction of the target vehicle are obtained; If an included angle between the first driving direction and the second driving direction belongs to a first preset angle interval, the position relationship between the first vehicle and the second vehicle is determined according to the position information of the first vehicle and the position information of the second vehicle, and if the included angle does not belong to the first preset angle interval, it is determined that the position relationship between the first vehicle and the second vehicle is not threatening; an angle range of the first preset angle interval is greater than or equal to a first angle and less than or equal to a second angle.

7. The method of claim 5, wherein, The vehicle with a higher elevation value between the host vehicle and the target vehicle is taken as a first vehicle, and the vehicle with a lower elevation value between the host vehicle and the target vehicle is taken as a second vehicle; The position relationship between the host vehicle and the target vehicle is determined according to the lifting state of the host vehicle and the lifting state of the target vehicle, including: When the first vehicle is in the downhill state and the second vehicle is in the flat road state, or the first vehicle is in the flat road state and the second vehicle is in the uphill state, or the first vehicle is in the uphill state and the second vehicle is in the flat road state, or the first vehicle is in the flat road state and the second vehicle is in the downhill state, the vehicle in the uphill state or the downhill state is taken as a third vehicle, and the vehicle in the flat road state is taken as a fourth vehicle; The front and back relationship between the third vehicle and the fourth vehicle is determined according to the current position information and driving direction of the third vehicle and the current position information and driving direction of the fourth vehicle; and The position relationship between the host vehicle and the target vehicle is determined according to the front and back relationship between the third vehicle and the fourth vehicle. If the fourth vehicle is a rear vehicle, historical path information of the third vehicle is acquired, a point closest to the historical path information is calculated according to current position information of the fourth vehicle, an altitude value of the point is acquired, a first difference between the altitude value and real-time net altitude of the fourth vehicle is calculated, if the first difference is less than a fifth threshold value, a position relationship between the first vehicle and the second vehicle is determined according to position information of the third vehicle and position information of the fourth vehicle, if the first difference is greater than or equal to the fifth threshold value, it is determined that the position relationship between the first vehicle and the second vehicle is non-threatening. If the fourth vehicle is a front vehicle, historical path information of the third vehicle is acquired, Y second preset time lengths before a current time are determined, each third angle corresponding to each second preset time length is extracted from the historical path information, the third angle is used to represent a slope of a current position of the third vehicle, a fourth angle of the fourth vehicle is acquired, the fourth angle is used to represent an included angle between a first straight line determined by current position information of the fourth vehicle and current position information of the third vehicle and a horizontal plane, when the fourth angle is less than or equal to S third angles in Y third angles, a position relationship between the first vehicle and the second vehicle is determined according to position information of the first vehicle and position information of the second vehicle, when the fourth angle is greater than S third angles, it is determined that the position relationship between the first vehicle and the second vehicle is non-threatening, S is less than or equal to Y and greater than or equal to 1.

8. The method of claim 7, wherein, Extracting the third angle corresponding to the second preset time length from the historical path information comprises: Extracting first altitude information and first position information corresponding to the second preset time length from the historical path information, acquiring second altitude information and second position information of the current time, determining a first altitude difference according to the first altitude information and the second altitude information, determining a first horizontal distance according to the first position information and the second position information, and determining the third angle according to the first altitude difference and the first horizontal distance; Acquiring the fourth angle of the fourth vehicle comprises: Acquiring third altitude information and third position information of the fourth vehicle at the current time, determining a second altitude difference according to the second altitude information and the third altitude information, determining a second horizontal distance according to the second position information and the third position information, and determining the fourth angle according to the second altitude difference and the second horizontal distance.

9. The method of claim 8, wherein, When the included angle between the driving direction of the third vehicle and the driving direction of the fourth vehicle belongs to a second preset angle interval, determining the second horizontal distance according to the second position information and the third position information comprises: Determining a second straight line according to the third position information and historical position information of the fourth vehicle; Determining a second horizontal distance between the third vehicle and the second straight line according to the second straight line and the second position information of the third vehicle.

10. A target vehicle classification device characterized by comprising: Comprises: An acquisition module is configured to acquire real-time net altitude and altitude historical data of a vehicle. The computing module is configured to obtain an elevation state of the vehicle according to real-time net elevation and elevation history data of the vehicle; the elevation state is used to indicate an elevation change trend of the vehicle; the vehicle includes a host vehicle and a target vehicle; The classification module is configured to determine a position relationship between the host vehicle and the target vehicle according to the elevation state of the host vehicle and the elevation state of the target vehicle, and classify the target vehicle according to the position relationship; wherein the position relationship between the host vehicle and the target vehicle is determined according to the elevation state of the host vehicle and the elevation state of the target vehicle, including: when the first vehicle is in an uphill state and the second vehicle is in a downhill state, determining that the position relationship between the first vehicle and the second vehicle is non-threatening; wherein the vehicle with a higher elevation value between the host vehicle and the target vehicle is taken as the first vehicle, and the vehicle with a lower elevation value between the host vehicle and the target vehicle is taken as the second vehicle; when the elevation state of the first vehicle and the elevation state of the second vehicle are both in an uphill state or both in a downhill state, obtaining position information of the first vehicle and position information of the second vehicle, and determining the position relationship between the first vehicle and the second vehicle according to the position information of the first vehicle and the position information of the second vehicle; when the elevation state of the first vehicle and the elevation state of the second vehicle are both in a flat road state, obtaining historical transition period path information of the first vehicle in the last transition period; obtaining current position information of the second vehicle, determining a point closest to the historical transition period path information in distance between the current position information and the historical transition period path information; if the point closest to the historical transition period path information in distance is a starting point in the historical transition period path information, determining the position relationship between the first vehicle and the second vehicle according to the position information of the first vehicle and the position information of the second vehicle, and if the point closest to the historical transition period path information in distance is not the starting point in the historical transition period path information, determining that the position relationship between the first vehicle and the second vehicle is non-threatening.

11. An electronic device, comprising: It includes: A processor, a memory and a communication bus, wherein the processor and the memory complete mutual communication through the communication bus; The memory is used to store a computer program; The processor is used to execute the program stored in the memory, and realize the target vehicle classification method in any one of claims 1-9.

12. A computer-readable storage medium storing a computer program, characterized in that, The computer program is executed by the processor to realize the target vehicle classification method in any one of claims 1-9.

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