Method, device, equipment and storage medium for determining vehicle drivable area

Abstract

The present application discloses a method, device, equipment and storage medium for determining a vehicle drivable area, which relates to the field of intelligent driving technology and can improve the accuracy of the vehicle drivable area. The specific scheme includes: obtaining the predicted path data of the target vehicle and the predicted trajectory data of multiple other objects under the current prediction duration; determining the first motion state of the target vehicle at the target time according to the predicted path data and multiple predicted trajectory data, and the target time is any moment in the prediction duration; determining the spatial range of multiple dynamic spaces that can be entered on the target lane at the target time and the second motion state of each dynamic space according to multiple predicted trajectory data, and the target lane is the lane that the target vehicle is to enter; determining the speed change process of the target vehicle entering each dynamic space according to the first motion state and multiple second motion states; determining the target dynamic space that the target vehicle is to enter according to the spatial range of each dynamic space and each speed change process.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving technology, and in particular to a method, device, equipment and storage medium for determining a vehicle drivable area. Background Art

[0002] Intelligent driving provides travel convenience and has been gradually produced and applied in recent years. Intelligent driving has different requirements for speed planning in different scenarios. In general following scenarios, because there is no competition for road rights, the speed planning requirement is stable, but in some special scenarios, such as merging or changing lanes, the speed planning requirement is flexible. Therefore, in such special scenarios, it is necessary to determine an optimal drivable area in combination with the vehicle's speed planning.

[0003] Currently, the determination of a drivable area in a merging or lane changing scenario is usually based on the speed of the vehicle and the distance between the vehicle and the drivable area. However, the drivable area determined by this method may not be an optimal drivable area. Summary of the invention

[0004] The present application provides a method, device, equipment and storage medium for determining a vehicle drivable area, which can improve the accuracy of the vehicle drivable area.

[0005] In order to achieve the above objectives, this application adopts the following technical solutions:

[0006] In a first aspect of an embodiment of the present application, a method for determining a vehicle drivable area is provided, the method comprising:

[0007] Obtain predicted path data of the target vehicle and predicted trajectory data of multiple other objects under the current prediction duration, where the other objects are obstacles within a first preset range centered on the target vehicle;

[0008] Determine a first motion state of the target vehicle at a target time according to the predicted path data and the plurality of predicted trajectory data, where the target time is any time in the predicted duration;

[0009] Determine, according to the plurality of predicted trajectory data, the spatial ranges of a plurality of dynamic spaces that can be entered on a target lane at a target time and the second motion state of each dynamic space, the target lane being the lane that the target vehicle is to enter;

[0010] Determine a speed change process of the target vehicle entering each dynamic space according to the first motion state and the plurality of second motion states;

[0011] The target dynamic space that the target vehicle is to enter is determined according to the spatial range of each dynamic space and each speed change process.

[0012] In one embodiment, the first motion state includes a first speed and a first acceleration of the target vehicle at a first target position at a target time, and determining the first motion state of the target vehicle at the target time according to the predicted path data and the plurality of predicted trajectory data includes:

[0013] Determining, based on the predicted path data and the plurality of predicted trajectory data, first predicted trajectory data that coincides with the predicted path data;

[0014] A first speed and a first acceleration of the target vehicle at a first target position at a target time are determined according to the first predicted trajectory data.

[0015] In one embodiment, the second motion state includes a second velocity and a second acceleration of the dynamic space at a second target position at a target time, and determining the spatial ranges of a plurality of dynamic spaces that can be driven into on a target lane at the target time and the second motion state of each dynamic space according to a plurality of predicted trajectory data includes:

[0016] Determine a plurality of second predicted trajectory data on the target lane according to the predicted path data;

[0017] The spatial ranges of multiple entering dynamic spaces on the target lane at the target time and the second speed and the second acceleration of each dynamic space at the corresponding second position are determined according to the multiple second predicted trajectory data.

[0018] In one embodiment, according to the first motion state and the plurality of second motion states, determining a speed change process of the target vehicle entering a dynamic space corresponding to each second motion state includes:

[0019] The speed variation curve of the target vehicle during entering each dynamic space is determined according to the first speed and the first acceleration of the target vehicle at the target time and the first target position and the second speed and the second acceleration of each dynamic space at the target time and the second target position.

[0020] In one embodiment, determining the target dynamic space that the target vehicle is to enter according to the spatial range of each dynamic space and each speed change process includes:

[0021] Determine the acceleration and jerk of the target vehicle when it enters each dynamic space according to each speed change curve;

[0022] The target dynamic space is determined according to the acceleration, jerk, smoothness of the speed change curve of the target vehicle entering each dynamic space and the spatial range of each dynamic space.

[0023] In one embodiment, the target dynamic space is determined according to the acceleration, jerk, smoothness of the speed change curve of the target vehicle entering each dynamic space and the spatial range of each dynamic space, including:

[0024] Determine a plurality of first speed change curves from the speed change curves, wherein the maximum acceleration corresponding to the first speed change curve is less than a first preset threshold, and the maximum jerk corresponding to the first speed change curve is less than a second preset threshold;

[0025] Determining a plurality of second speed change curves from the plurality of first speed change curves, wherein the curve smoothness of the second speed change curves meets a preset condition;

[0026] For the reference dynamic spaces corresponding to the second speed change curve, a reference dynamic space with the largest spatial range in the reference dynamic spaces is determined as the target dynamic space.

[0027] In one embodiment, after obtaining the predicted path data of the target vehicle and the predicted trajectory data of multiple other objects at the current prediction duration, the method further includes:

[0028] Performing time synchronization processing on the predicted path data and the predicted trajectory data to obtain synchronized predicted path data and predicted trajectory data;

[0029] Determining a first motion state of the target vehicle at a target time according to the predicted path data and the plurality of predicted trajectory data includes:

[0030] A first motion state of the target vehicle at a target time is determined based on the synchronized predicted path data and predicted trajectory data.

[0031] According to a second aspect of an embodiment of the present application, a device for determining a vehicle drivable area is provided, the device comprising:

[0032] An acquisition module, used to acquire predicted path data of the target vehicle and predicted trajectory data of multiple other objects under the current prediction time, where the other objects are obstacles within a first preset range centered on the target vehicle;

[0033] A first determination module is used to determine a first motion state of the target vehicle at a target time according to the predicted path data and the plurality of predicted trajectory data, where the target time is any time in the predicted duration;

[0034] A second determination module is used to determine the spatial range of multiple dynamic spaces that can be entered on the target lane at the target time and the second motion state of each dynamic space according to the multiple predicted trajectory data, the target lane being the lane that the target vehicle is to enter;

[0035] A third determination module is used to determine a speed change process of the target vehicle entering each dynamic space according to the first motion state and the plurality of second motion states;

[0036] The fourth determination module is used to determine the target dynamic space that the target vehicle is going to enter according to the spatial range of each dynamic space and each speed change process.

[0037] A third aspect of an embodiment of the present application provides an electronic device, which includes a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the method for determining a vehicle drivable area in the first aspect of the embodiment of the present application is implemented.

[0038] A fourth aspect of an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the method for determining a vehicle drivable area in the first aspect of an embodiment of the present application is implemented.

[0039] The beneficial effects brought by the technical solution provided by the embodiment of the present application include at least:

[0040] The method for determining the vehicle drivable area provided in the embodiment of the present application, by obtaining the predicted path data of the target vehicle under the current prediction duration and the predicted trajectory data of multiple other objects, the other objects are obstacles within a first preset range centered on the target vehicle, and then, according to the predicted path data and the multiple predicted trajectory data, the first motion state of the target vehicle at the target time is determined, the target time is any time in the prediction duration, and the spatial range of multiple dynamic spaces that can be entered on the target lane at the target time and the second motion state of each dynamic space are determined according to the multiple predicted trajectory data, the target lane is the lane to be entered by the target vehicle, and according to the first motion state and the multiple second motion states, the speed change process of the target vehicle entering each dynamic space is determined, and finally the target dynamic space to be entered by the target vehicle is determined according to the spatial range and each speed change process of each dynamic space. The method for determining the vehicle drivable area provided in the embodiment of the present application is applicable to scenarios such as vehicle merging or lane changing scenarios. When determining the drivable area, the present application takes into account the current motion state of the vehicle and the motion states of multiple dynamic spaces on the target lane, so a better drivable area can be determined, and the accuracy of determining the drivable area can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 A schematic diagram of the structure of a vehicle-mounted terminal provided in an embodiment of the present application;

[0042] Figure 2 A flowchart of a method for determining a vehicle drivable area provided in an embodiment of the present application;

[0043] Figure 3 A structural diagram of a device for determining a vehicle drivable area provided in an embodiment of the present application. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0045] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present disclosure, unless otherwise specified, "plurality" means two or more.

[0046] Additionally, the use of “based on” or “according to” is meant to be open and inclusive, as a process, step, calculation, or other action “based on” or “according to” one or more conditions or values ​​may, in practice, be based on additional conditions or beyond values.

[0047] Intelligent driving provides travel convenience and has been gradually produced and applied in recent years. Intelligent driving has different requirements for speed planning in different scenarios. In general following scenarios, because there is no competition for road rights, the speed planning requirement is stable, but in some special scenarios, such as merging or changing lanes, the speed planning requirement is flexible. Therefore, in such special scenarios, it is necessary to determine an optimal drivable area in combination with the vehicle's speed planning.

[0048] Currently, the determination of a drivable area in a merging or lane changing scenario is usually based on the speed of the vehicle and the distance between the vehicle and the drivable area. However, the drivable area determined by this method may not be an optimal drivable area.

[0049] In order to solve the above problems, the embodiment of the present application provides a method for determining a vehicle drivable area, by obtaining the predicted path data of the target vehicle under the current prediction duration and the predicted trajectory data of multiple other objects, the other objects are obstacles within a first preset range centered on the target vehicle, and then, according to the predicted path data and the multiple predicted trajectory data, the first motion state of the target vehicle at the target time is determined, the target time is any time in the prediction duration, and the spatial range of multiple dynamic spaces that can be entered on the target lane at the target time and the second motion state of each dynamic space are determined according to the multiple predicted trajectory data, the target lane is the lane to be entered by the target vehicle, and according to the first motion state and the multiple second motion states, the speed change process of the target vehicle entering each dynamic space is determined, and finally the target dynamic space to be entered by the target vehicle is determined according to the spatial range and each speed change process of each dynamic space. The method for determining the vehicle drivable area provided in the embodiment of the present application is applicable to scenarios such as vehicle merging or lane changing scenarios. When determining the drivable area, the present application takes into account the current motion state of the vehicle and the motion states of multiple dynamic spaces on the target lane, so a better drivable area can be determined, and the accuracy of determining the drivable area can be improved.

[0050] The executor of the method for determining the vehicle drivable area provided in the embodiment of the present application may be an electronic device. Specifically, the electronic device may be a computer device, a terminal device, or a server. The terminal device may be a vehicle-mounted terminal, various personal computers, laptops, smart phones, tablet computers, and portable wearable devices, etc., and the present application does not make any specific limitations.

[0051] Figure 1 Taking the vehicle terminal as an example, Figure 1 This is a schematic diagram of the internal structure of a vehicle-mounted terminal provided in an embodiment of the present application. Figure 1 As shown, the vehicle-mounted terminal includes a processor and a memory connected via a system bus. The processor is used to provide computing and control capabilities. The memory may include a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The computer program can be executed by the processor to implement the steps of a method for determining a vehicle drivable area provided in each of the above embodiments. The internal memory provides a cache operating environment for the operating system and the computer program in the non-volatile storage medium.

[0052] Those skilled in the art will understand that Figure 1The structure shown in the figure is only a block diagram of a part of the structure related to the scheme of the present application, and does not constitute a limitation on the vehicle-mounted terminal to which the scheme of the present application is applied. The specific vehicle-mounted terminal may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0053] Based on the above execution subject, the embodiment of the present application provides a method for determining a vehicle drivable area. Figure 2 As shown, the method comprises the following steps:

[0054] Step 201: Obtain predicted path data of a target vehicle and predicted trajectory data of multiple other objects under the current prediction duration.

[0055] Among them, other objects are obstacles within a first preset range centered on the target vehicle. For example, the obstacle can be a vehicle or a pedestrian, etc., and this application does not make specific limitations.

[0056] It should be noted that the predicted path data can be obtained from the front-end path planning module of the vehicle's automatic driving system, and the predicted trajectory data can be obtained from the front-end prediction module in the vehicle's automatic driving system. Among them, the prediction module takes over the upstream perception module, combines the high-precision map and the main vehicle's positioning information, and predicts the future movement of surrounding obstacles to help the main vehicle make decisions in advance.

[0057] Step 202: Determine a first motion state of the target vehicle at a target time according to the predicted path data and the plurality of predicted trajectory data.

[0058] The target time is any time in the prediction duration. That is to say, the motion state of the target vehicle at the target time is determined according to the path data of the target vehicle and the predicted trajectory data of other obstacles, and a first motion state is obtained, and the first motion state includes a first speed and a first acceleration of the target vehicle at the first target position at the target time.

[0059] Step 203 : determining the spatial ranges of multiple enterable dynamic spaces on the target lane at the target time and the second motion state of each dynamic space according to the multiple predicted trajectory data.

[0060] The target lane is the lane that the target vehicle is going to enter. In scenarios such as vehicle merging or lane changing, the target lane is the lane that the target vehicle is going to merge into or merge into. The dynamic space is the area on the target lane that the vehicle can enter. This area does not include obstacles. The size of this area is determined by the obstacle prediction trajectory.

[0061] The second motion state is a dynamic space motion state, and the second motion state includes a second velocity and a second acceleration of the dynamic space at a second target position at a target time.

[0062] Step 204: Determine a speed change process of the target vehicle entering each dynamic space according to the first motion state and the plurality of second motion states.

[0063] Step 205: Determine the target dynamic space that the target vehicle is to enter according to the spatial range of each dynamic space and each speed change process.

[0064] The method for determining the vehicle drivable area provided in the embodiment of the present application, by obtaining the predicted path data of the target vehicle under the current prediction duration and the predicted trajectory data of multiple other objects, the other objects are obstacles within a first preset range centered on the target vehicle, and then, according to the predicted path data and the multiple predicted trajectory data, the first motion state of the target vehicle at the target time is determined, the target time is any time in the prediction duration, and the spatial range of multiple dynamic spaces that can be entered on the target lane at the target time and the second motion state of each dynamic space are determined according to the multiple predicted trajectory data, the target lane is the lane to be entered by the target vehicle, and according to the first motion state and the multiple second motion states, the speed change process of the target vehicle entering each dynamic space is determined, and finally the target dynamic space to be entered by the target vehicle is determined according to the spatial range and each speed change process of each dynamic space. The method for determining the vehicle drivable area provided in the embodiment of the present application is applicable to scenarios such as vehicle merging or lane changing scenarios. When determining the drivable area, the present application takes into account the current motion state of the vehicle and the motion states of multiple dynamic spaces on the target lane, so a better drivable area can be determined, and the accuracy of determining the drivable area can be improved.

[0065] Optionally, after obtaining the predicted path data of the target vehicle and the predicted trajectory data of multiple other objects under the current prediction duration in the above step 201, the method further includes:

[0066] Performing time synchronization processing on the predicted path data and the predicted trajectory data to obtain synchronized predicted path data and predicted trajectory data;

[0067] Correspondingly, the above step 202 determines the first motion state of the target vehicle at the target time according to the predicted path data and the multiple predicted trajectory data, including: determining the first motion state of the target vehicle at the target time according to the synchronized predicted path data and the predicted trajectory data.

[0068] Specifically, time synchronization processing of the predicted path data and the predicted trajectory data can align the predicted path data and the predicted trajectory data to the current time point of the vehicle's automatic driving system decision module.

[0069] It can be understood that since the predicted path data is obtained from the front-end path planning module and the predicted trajectory data is obtained from the front-end prediction module, the time of the predicted path data and the predicted trajectory data obtained at the same time may not be the same. Therefore, it is necessary to perform time synchronization processing on the obtained predicted path data and predicted trajectory data, and the impact of time delay can be reduced. At the same time, data errors can be avoided in the subsequent process of determining the drivable area, which affects the accuracy of the determination of the drivable area.

[0070] Optionally, the first motion state includes a first speed and a first acceleration of the target vehicle at a first target position at a target time. The above step 202, determining the first motion state of the target vehicle at the target time according to the predicted path data and the plurality of predicted trajectory data, includes:

[0071] According to the predicted path data and the plurality of predicted trajectory data, first predicted trajectory data overlapping with the predicted path data is determined, and then a first speed and a first acceleration of the target vehicle at a first target position at a target time are determined according to the first predicted trajectory data.

[0072] It is understandable that the first predicted trajectory data overlapping with the predicted path data will affect the vehicle's driving speed or acceleration, and therefore it is necessary to determine the first speed and first acceleration of the target vehicle at the first target position at the target time based on the first predicted trajectory data.

[0073] In the actual execution process, according to the first predicted trajectory data, the driving range of the target vehicle at the target time can also be determined, and the driving range can be represented by (t, s_min, s_max), where s_min is the first limit position of the driving range, and s_max is the second limit position of the driving range. The first target position can be the average of the first limit position and the second limit position.

[0074] Optionally, the second motion state includes a second speed and a second acceleration. The above step 203 determines the spatial ranges of multiple enterable dynamic spaces on the target lane at the target time and the second motion state of each dynamic space according to the multiple predicted trajectory data, including:

[0075] A plurality of second predicted trajectory data on the target lane is determined based on the predicted path data, and then a spatial range of a plurality of entering dynamic spaces on the target lane at a target time and a second speed and a second acceleration of each dynamic space at a corresponding second target position are determined based on the plurality of second predicted trajectory data.

[0076] It is understandable that the dynamic space on the target lane may be formed by the first other vehicle and the second other vehicle, wherein the first limit of the spatial range of the dynamic space is the rear position of the first other vehicle, and the second limit is the front position of the second other vehicle. The second target position may be the average of the front position and the rear position. The second speed is determined based on the speed of the first other vehicle and the speed of the second other vehicle, and the specific second speed may be the average speed of the speed of the first other vehicle and the speed of the second other vehicle. The second acceleration is determined based on the acceleration of the first other vehicle and the acceleration of the second other vehicle. The specific second acceleration may be the average acceleration of the acceleration of the first other vehicle and the acceleration of the second other vehicle, so that the motion state of the dynamic space can be accurately determined, thereby improving the accuracy of determining the drivable area.

[0077] Optionally, the above step 204 determines the speed change process of the target vehicle entering the dynamic space corresponding to each second motion state according to the first motion state and multiple second motion states, including: determining the speed change curve of the target vehicle in the process of entering each dynamic space according to the first speed and first acceleration of the target vehicle at the target time and the first target position and the second speed and second acceleration of each dynamic space at the target time and the second target position.

[0078] Specifically, the speed change curve of the target vehicle in the process of entering the dynamic space can be fitted based on the first speed and the first acceleration of the target vehicle at the target time and the first target position and the second speed and the second acceleration of the dynamic space at the target time and the second target position, and a fifth-order polynomial of position and time. This can ensure that the operational properties of the dynamic space are basically the same as those of the target lane at the agreed time, making it convenient for vehicles to merge.

[0079] Optionally, the above step 205 determines the target dynamic space that the target vehicle is to enter according to the spatial range of each dynamic space and each speed change process, including:

[0080] The acceleration and jerk of the target vehicle when entering each dynamic space are determined according to each speed change curve, and the target dynamic space is determined according to the acceleration, jerk, smoothness of the speed change curve and the spatial range of each dynamic space when the target vehicle enters each dynamic space.

[0081] Specifically, the target dynamic space is determined according to the acceleration, jerk, smoothness of the speed change curve of the target vehicle entering each dynamic space and the spatial range of each dynamic space, including:

[0082] A plurality of first speed change curves are determined from each speed change curve, the maximum acceleration corresponding to the first speed change curve is less than a first preset threshold, and the maximum jerk corresponding to the first speed change curve is less than a second preset threshold, and then a plurality of second speed change curves are determined from the plurality of first speed change curves, the curve smoothness of the second speed change curves meets a preset condition, and finally, for the reference dynamic space corresponding to the second speed change curve, the reference dynamic space with the largest spatial range in the reference dynamic space is determined as the target dynamic space.

[0083] That is to say, after obtaining the speed curve of the target vehicle entering each dynamic space, the acceleration curve and the jerk curve of the target vehicle entering each dynamic space can be obtained through the speed curve. First, for the acceleration curve and the jerk curve, the speed curves corresponding to the maximum acceleration greater than the first preset threshold and the maximum jerk greater than the second preset threshold are excluded to obtain the first speed change curve. Among them, the first preset threshold and the second preset threshold can be set according to the driving power of the vehicle and the driving stability requirements of the vehicle, and the embodiment of the present application does not make specific restrictions on this. In this way, the situation of excessive acceleration during driving can be avoided, and the driving stability of the vehicle during driving to the dynamic space can be improved.

[0084] For multiple first speed change curves, the curve smoothness of each first speed change curve can be evaluated using a corresponding evaluation algorithm to obtain an evaluation value of the curve smoothness, and a curve with an evaluation value greater than a preset standard evaluation value is determined as a second speed change curve. This can improve the speed stability of the vehicle during driving and avoid frequent sudden acceleration or deceleration.

[0085] For the second speed change curve, the dynamic space with the largest spatial range can be further determined as the target dynamic space according to the size of the spatial range of the dynamic space, so as to avoid collisions or scrapes between vehicles during the process of driving in.

[0086] The method for determining the vehicle drivable area provided in the embodiment of the present application, by obtaining the predicted path data of the target vehicle under the current prediction duration and the predicted trajectory data of multiple other objects, the other objects are obstacles within a first preset range centered on the target vehicle, and then, according to the predicted path data and the multiple predicted trajectory data, the first motion state of the target vehicle at the target time is determined, the target time is any time in the prediction duration, and the spatial range of multiple dynamic spaces that can be entered on the target lane at the target time and the second motion state of each dynamic space are determined according to the multiple predicted trajectory data, the target lane is the lane to be entered by the target vehicle, and according to the first motion state and the multiple second motion states, the speed change process of the target vehicle entering each dynamic space is determined, and finally the target dynamic space to be entered by the target vehicle is determined according to the spatial range and each speed change process of each dynamic space. The method for determining the vehicle drivable area provided in the embodiment of the present application is applicable to scenarios such as vehicle merging or lane changing scenarios. When determining the drivable area, the present application takes into account the current motion state of the vehicle and the motion states of multiple dynamic spaces on the target lane, so a better drivable area can be determined, and the accuracy of determining the drivable area can be improved.

[0087] It should be noted that the above-mentioned method for determining the vehicle's drivable area is explained by taking an execution cycle as an example. When executing the method for determining the vehicle's drivable area, it can be first determined whether the spatial change range of the target dynamic space determined in the previous cycle is greater than the preset range. If it is less, the target dynamic space determined in the previous cycle is determined as the target dynamic space of the current cycle. If it is greater, the method for determining the vehicle's drivable area provided in this application will be re-executed.

[0088] like Figure 3 As shown, an embodiment of the present application provides a device for determining a vehicle drivable area, the device comprising:

[0089] An acquisition module 11 is used to acquire predicted path data of the target vehicle and predicted trajectory data of multiple other objects under the current prediction time, where the other objects are obstacles within a first preset range centered on the target vehicle;

[0090] A first determination module 12 is used to determine a first motion state of the target vehicle at a target time according to the predicted path data and the plurality of predicted trajectory data, where the target time is any time in the predicted duration;

[0091] A second determination module 13 is used to determine the spatial range of multiple dynamic spaces that can be entered on the target lane at the target time and the second motion state of each dynamic space according to the multiple predicted trajectory data, the target lane being the lane that the target vehicle is to enter;

[0092] A third determination module 14 is used to determine a speed change process of the target vehicle entering each dynamic space according to the first motion state and the plurality of second motion states;

[0093] The fourth determination module 15 is used to determine the target dynamic space that the target vehicle is going to enter according to the spatial range of each dynamic space and each speed change process.

[0094] In one embodiment, the first motion state includes a first speed and a first acceleration of the target vehicle at a first target position at a target time, and the first determination module 12 is specifically configured to:

[0095] Determining, based on the predicted path data and the plurality of predicted trajectory data, first predicted trajectory data that coincides with the predicted path data;

[0096] A first speed and a first acceleration of the target vehicle at a first target position at a target time are determined according to the first predicted trajectory data.

[0097] In one embodiment, the second motion state includes a second velocity and a second acceleration of the dynamic space at a second target position at a target time, and the second determination module 13 is specifically configured to:

[0098] Determine a plurality of second predicted trajectory data on the target lane according to the predicted path data;

[0099] The spatial ranges of multiple entering dynamic spaces on the target lane at the target time and the second speed and the second acceleration of each dynamic space at the corresponding second position are determined according to the multiple second predicted trajectory data.

[0100] In one embodiment, the third determining module 14 is specifically configured to:

[0101] The speed variation curve of the target vehicle during entering each dynamic space is determined according to the first speed and the first acceleration of the target vehicle at the target time and the first target position and the second speed and the second acceleration of each dynamic space at the target time and the second target position.

[0102] In one embodiment, the fourth determining module 15 is specifically configured to:

[0103] Determine the acceleration and jerk of the target vehicle when it enters each dynamic space according to each speed change curve;

[0104] The target dynamic space is determined according to the acceleration, jerk, smoothness of the speed change curve of the target vehicle entering each dynamic space and the spatial range of each dynamic space.

[0105] In one embodiment, the fourth determining module 15 is specifically configured to:

[0106] Determine a plurality of first speed change curves from the speed change curves, wherein the maximum acceleration corresponding to the first speed change curve is less than a first preset threshold, and the maximum jerk corresponding to the first speed change curve is less than a second preset threshold;

[0107] Determining a plurality of second speed change curves from the plurality of first speed change curves, wherein the curve smoothness of the second speed change curves meets a preset condition;

[0108] For the reference dynamic spaces corresponding to the second speed change curve, a reference dynamic space with the largest spatial range in the reference dynamic spaces is determined as the target dynamic space.

[0109] In one embodiment, the device further includes: a synchronization module 16, the synchronization module 16 is used to:

[0110] Performing time synchronization processing on the predicted path data and the predicted trajectory data to obtain synchronized predicted path data and predicted trajectory data;

[0111] The first determination module 12 is further used to determine a first motion state of the target vehicle at a target time according to the synchronized predicted path data and predicted trajectory data.

[0112] The device for determining the vehicle drivable area provided in this embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, which will not be elaborated here.

[0113] For the specific definition of the device for determining the vehicle's drivable area, please refer to the definition of the method for determining the vehicle's drivable area above, which will not be repeated here. Each module in the above-mentioned device for determining the vehicle's drivable area can be implemented in whole or in part by software, hardware, and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor of the electronic device in the form of hardware, or can be stored in the memory of the electronic device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0114] In another embodiment of the present application, an electronic device is provided, including a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the steps of the method for determining the vehicle drivable area as in the embodiment of the present application are implemented.

[0115] In another embodiment of the present application, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the method for determining a vehicle drivable area in the embodiment of the present application are implemented.

[0116] In another embodiment of the present application, a computer program product is also provided. The computer program product includes computer instructions. When the computer instructions are executed on a device for determining a vehicle's drivable area, the device for determining a vehicle's drivable area executes each step of the method for determining a vehicle's drivable area in the method flow shown in the above method embodiment.

[0117] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using a software program, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loading and executing a computer execution instruction on a computer, a process or function according to an embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. Computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, computer instructions can be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (digitalsubsoriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server, data center, etc. that contains one or more servers that can be integrated with a medium. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a DVD), or a semiconductor medium (eg, a solid state disk (SSD)).

[0118] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0119] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A method for determining a vehicle drivable area, characterized in that: The method comprises: Acquire predicted path data of the target vehicle and predicted trajectory data of multiple other objects under the current prediction duration, wherein the other objects are obstacles within a first preset range centered on the target vehicle; Determine a first motion state of the target vehicle at a target time according to the predicted path data and the plurality of predicted trajectory data, wherein the target time is any time in the predicted duration, and the first motion state includes a first speed and a first acceleration of the target vehicle at a first target position at the target time; Determine, according to the plurality of predicted trajectory data, the spatial ranges of a plurality of dynamic spaces that can be driven into on a target lane at the target time and a second motion state of each of the dynamic spaces, wherein the target lane is a lane to be driven into by the target vehicle, and the second motion state includes a second velocity and a second acceleration of the dynamic space at a second target position at the target time; Determine, according to the first motion state and the plurality of the second motion states, a speed change process of the target vehicle entering each of the dynamic spaces; Determine the target dynamic space that the target vehicle is to enter according to the spatial range of each dynamic space and each speed change process; The step of determining a speed change process of the target vehicle entering each of the dynamic spaces according to the first motion state and the plurality of the second motion states includes: The speed change curve of the target vehicle during entering each of the dynamic spaces is determined according to the first speed and the first acceleration of the target vehicle at the target time and the first target position and the second speed and the second acceleration of each of the dynamic spaces at the target time and the second target position.

2. The method according to claim 1, characterized in that Determining the first motion state of the target vehicle at a target time according to the predicted path data and the plurality of predicted trajectory data includes: Determining, based on the predicted path data and the plurality of predicted trajectory data, first predicted trajectory data that coincides with the predicted path data; A first speed and a first acceleration of the target vehicle at a first target position at the target time are determined according to the first predicted trajectory data.

3. The method according to claim 2, characterized in that The determining, based on the plurality of predicted trajectory data, the spatial ranges of a plurality of dynamic spaces that can be driven into on the target lane at the target time and the second motion state of each of the dynamic spaces comprises: Determine a plurality of second predicted trajectory data on the target lane according to the predicted path data; The spatial ranges of multiple entering dynamic spaces on the target lane at the target time and the second speed and the second acceleration of each of the dynamic spaces at the corresponding second target position are determined according to the multiple second predicted trajectory data.

4. The method according to claim 1, characterized in that The step of determining the target dynamic space that the target vehicle is to enter according to the spatial range of each dynamic space and each speed change process comprises: Determining the acceleration and jerk of the target vehicle when it enters each of the dynamic spaces according to each of the speed change curves; The target dynamic space is determined according to the acceleration, jerk, smoothness of the speed change curve and the spatial range of each dynamic space when the target vehicle enters each dynamic space.

5. The method according to claim 4, characterized in that The target dynamic space is determined according to the acceleration, jerk, smoothness of the speed change curve and the spatial range of each dynamic space when the target vehicle enters each dynamic space, including: Determining a plurality of first speed change curves from the speed change curves, wherein the maximum acceleration corresponding to the first speed change curve is less than a first preset threshold, and the maximum jerk corresponding to the first speed change curve is less than a second preset threshold; Determining a plurality of second speed change curves from the plurality of first speed change curves, wherein the curve smoothness of the second speed change curves meets a preset condition; For the reference dynamic spaces corresponding to the second speed change curve, a reference dynamic space with the largest spatial range in the reference dynamic spaces is determined as a target dynamic space.

6. The method according to any one of claims 1 to 5, characterized in that: After obtaining the predicted path data of the target vehicle and the predicted trajectory data of multiple other objects under the current prediction duration, the method further includes: Performing time synchronization processing on the predicted path data and the predicted trajectory data to obtain synchronized predicted path data and predicted trajectory data; Determining the first motion state of the target vehicle at a target time according to the predicted path data and the plurality of predicted trajectory data includes: A first motion state of the target vehicle at a target time is determined based on the synchronized predicted path data and predicted trajectory data.

7. A device for determining a vehicle drivable area, characterized in that: The device comprises: An acquisition module, used to acquire predicted path data of a target vehicle and predicted trajectory data of a plurality of other objects under a current prediction duration, wherein the other objects are obstacles within a first preset range centered on the target vehicle; A first determination module is used to determine a first motion state of the target vehicle at a target time according to the predicted path data and the plurality of predicted trajectory data, wherein the target time is any time in the predicted duration, and the first motion state includes a first speed and a first acceleration of the target vehicle at a first target position at the target time; A second determination module is used to determine the spatial range of multiple enterable dynamic spaces on the target lane at the target time and a second motion state of each of the dynamic spaces according to the multiple predicted trajectory data, the target lane being the lane that the target vehicle is to enter, and the second motion state including a second velocity and a second acceleration of the dynamic space at a second target position at the target time; A third determination module is used to determine a speed change process of the target vehicle entering each of the dynamic spaces according to the first motion state and a plurality of the second motion states; A fourth determination module, configured to determine a target dynamic space that the target vehicle is to enter according to a spatial range of each of the dynamic spaces and each of the speed change processes; The third determination module is specifically used to determine the speed change curve of the target vehicle in the process of entering each dynamic space according to the first speed and the first acceleration of the target vehicle at the target time and the first target position and the second speed and the second acceleration of each dynamic space at the target time and the second target position.

8. An electronic device, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the method for determining a vehicle drivable area according to any one of claims 1 to 6 is implemented.

9. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and when the computer program is executed by a processor, the method for determining a vehicle drivable area according to any one of claims 1 to 6 is implemented.

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