Method, apparatus, and autonomous vehicle for determining interchange road where obstacle is located

Abstract

The present disclosure provides a method, an apparatus, and an autonomous vehicle for determining an interchange road where an obstacle is located, which relates to the field of computer technologies, and particularly to the field of autonomous driving or high-precision map technologies. The specific implementation solution is as follows: in response to the host vehicle traveling on an interchange road having an interchange relationship, obtain a projection overlapping area corresponding to the interchange road where the host vehicle is located; in response to detecting that the projection of the position where the obstacle is located is within the projection overlapping area, obtain the actual height difference between the position where the host vehicle is located and the position where the obstacle is located; based on the relative height information of the preset interchange road, determine the relative height difference between the position where the host vehicle is located and the position where the obstacle is located among at least two interchange roads corresponding to the projection overlapping area; based on each relative height difference and the actual height difference, determine the interchange road where the obstacle is located. This solution can effectively determine the interchange road where the obstacle actually is located, providing a basis for predicting the running trajectory of the obstacle.

Description

Technical Field

[0001] The present disclosure relates to the field of computer technologies, and more particularly to the fields of autonomous driving or high-precision mapping technologies. Specifically, the present disclosure relates to a method, an apparatus, and an autonomous vehicle for determining an overpass road where an obstacle is located. Background Art

[0002] High-precision maps can provide map information with high precision and rich content for autonomous driving.

[0003] According to relevant requirements, elevation information of roads cannot be provided in high-precision maps. Therefore, overpass roads in high-precision maps are expressed as level crossings. In this case, the overlapping areas of different levels of overpass roads are expressed as overlapping areas of level crossings. If an obstacle is located in the overlapping area, it is impossible to determine the actual overpass road where the obstacle is located. And being unable to determine the actual overpass road where the obstacle is located will result in the inability to accurately predict the movement trajectory of the obstacle, and thus it is impossible to effectively control the vehicle based on the movement trajectory of the obstacle, affecting the safety of the vehicle. Summary of the Invention

[0004] The present disclosure provides a method, an apparatus, and an autonomous vehicle for determining an overpass road where an obstacle is located to solve at least one of the above defects.

[0005] According to a first aspect of the present disclosure, there is provided a method for determining an overpass road where an obstacle is located, the method including:

[0006] In response to the host vehicle traveling on an overpass road having an overpass relationship, obtaining a projection overlapping area corresponding to the overpass road where the host vehicle is located, the projection overlapping area being an overlapping area after the overpass road where the host vehicle is located and at least one overpass road are projected onto a two-dimensional plane;

[0007] In response to detecting that the projection of the position where the obstacle is located is within the projection overlapping area, obtaining an actual height difference between the position where the host vehicle is located and the position where the obstacle is located;

[0008] Based on the relative height information of each overpass road having an overpass relationship preset, determining a relative height difference between the position where the host vehicle is located and the position where the obstacle is located in at least two overpass roads corresponding to the projection overlapping area;

[0009] Based on each relative height difference and the actual height difference, determining the overpass road where the obstacle is located.

[0010] According to a second aspect of the present disclosure, there is provided a device for determining an overpass road where an obstacle is located, the device including:

[0011] A projection overlapping area acquisition module, configured to obtain a projection overlapping area corresponding to the interchange road where the host vehicle is located in response to the host vehicle traveling on an interchange road with an interchange relationship, where the projection overlapping area is the overlapping area after the interchange road where the host vehicle is located and at least one interchange road are projected onto a two-dimensional plane;

[0012] An actual height difference acquisition module, configured to obtain the actual height difference between the position where the host vehicle is located and the position where the obstacle is located in response to detecting that the projection of the position where the obstacle is located is within the projection overlapping area;

[0013] A relative height difference determination module, configured to determine the relative height difference between the position where the host vehicle is located and the position where the obstacle is located in at least two interchange roads corresponding to the projection overlapping area based on the relative height information of each interchange road with an interchange relationship preset;

[0014] An interchange road where the obstacle is located determination module, configured to determine the interchange road where the obstacle is located based on each relative height difference and the actual height difference.

[0015] According to the third aspect of the present disclosure, there is provided an electronic device, which includes:

[0016] At least one processor; and

[0017] A memory communicatively connected to the at least one processor; wherein,

[0018] The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method for determining the interchange road where the obstacle is located.

[0019] According to the fourth aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to cause a computer to execute the method for determining the interchange road where the obstacle is located.

[0020] According to the fifth aspect of the present disclosure, there is provided a computer program product, including a computer program, which implements the method for determining the interchange road where the obstacle is located when being executed by a processor.

[0021] According to the sixth aspect of the present disclosure, there is provided an autonomous vehicle, including the electronic device described in the third aspect above.

[0022] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it used to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings are used to better understand the present solution and do not constitute a limitation to the present disclosure. Among them:

[0024] Figure 1 is a schematic diagram of a group of overpass roads with overpass relationships;

[0025] Figure 2 is a schematic flowchart of a method for determining the overpass road where an obstacle is located provided by an embodiment of the present disclosure;

[0026] Figure 3 、 4 、5 are all schematic diagrams of typical overpass relationships expressed in the high-precision map provided by the embodiments of the present disclosure;

[0027] Figure 6 is a schematic diagram of the range of the projection overlapping area in a group of overpass roads provided by the embodiments of the present disclosure;

[0028] Figure 7 、 8 、9 are all schematic diagrams of the overpass relationships defined in the high-precision map provided by the embodiments of the present disclosure.

[0029] Figure 10 is a schematic structural diagram of a device for determining the overpass road where an obstacle is located provided by an embodiment of the present disclosure;

[0030] Figure 11 is a block diagram of an electronic device for implementing the method for determining the overpass road where an obstacle is located according to an embodiment of the present disclosure. Detailed Implementation Manner

[0031] The following makes an explanation of the exemplary embodiments of the present disclosure with reference to the accompanying drawings. Among them, various details of the embodiments of the present disclosure are included to help understanding, and they should be considered merely exemplary. Therefore, those of ordinary skill in the art should recognize that various changes and modifications can be made to the embodiments described here without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, the description of well-known functions and structures is omitted below.

[0032] According to relevant requirements, elevation information of roads cannot be provided in high-precision maps. The overpass roads in high-precision maps of related technologies will be expressed as grade-separated roads, and the overlapping areas of different layers of overpass roads will be expressed as overlapping areas of grade-separated roads. When an obstacle is located in the overlapping area, based on the high-precision map in related technologies, it may be impossible to determine the actual overpass road where the obstacle is located.

[0033] As an example, a group of overpass roads with overpass relationships can be as Figure 1As shown in the figure, where R1 and R2 are overpass roads, and R1 is located on the upper layer of R2. In a high-precision map, R1 and R2 will be expressed as intersection roads, and the a1 area in R1 and the a2 area in R2 are the overlapping areas that will occur in R1 and R2 after R1 and R2 are expressed as intersection roads.

[0034] When the host vehicle is at position A on R1, if it is detected that an obstacle is at position B within the overlapping area of R1 and R2, at this time, based on the high-precision map in the related art, it may not be possible to determine whether the overpass road where the obstacle actually is located is R1 or R2.

[0035] Since it is impossible to determine whether the overpass road where the obstacle actually is located is R1 or R2, it is impossible to accurately predict the movement trajectory of the obstacle based on the overpass road where the obstacle actually is located, and thus it is impossible to effectively control the vehicle safely based on the movement trajectory of the obstacle (such as braking, obstacle avoidance, etc.), which affects the safety of the vehicle.

[0036] The method, device, and autonomous vehicle for determining the overpass road where an obstacle is located provided by the embodiments of the present disclosure are intended to solve at least one of the above technical problems in the prior art.

[0037] Figure 2 The flowchart of a method for determining the overpass road where an obstacle is located provided by the embodiments of the present disclosure is shown. As Figure 2 shown in the figure, the method mainly may include:

[0038] Step S210: In response to the host vehicle traveling on an overpass road with an overpass relationship, obtain a projection overlapping area corresponding to the overpass road where the host vehicle is located. The projection overlapping area is the overlapping area after the overpass road where the host vehicle is located and at least one overpass road are projected onto a two-dimensional plane.

[0039] Among them, the overpass roads in the overpass relationship may include at least two. As an example, referring to Figure 1 shown in the figure, the overpass relationship may be composed of overpass road R1 and overpass road R2. The overpass roads included in the overpass relationship may be recorded in the map data of the high-precision map.

[0040] The host vehicle (which may also be referred to as the vehicle itself) may be an autonomous or driverless vehicle. During the driving process, the host vehicle can determine whether the road where it is located is an overpass road based on the map data in the high-precision map.

[0041] There is an overlying relationship among the overpass roads in the overpass relationship, so that after the overpass roads are projected onto a two-dimensional plane, there will be an overlapping part in the projections of the overpass roads with an overlying relationship, and this overlapping part is the projection overlapping area.

[0042] For any overpass road in the overpass relationship, the overlapping part of the projection of the overpass road on the two-dimensional plane and the projections of other overpass roads on the two-dimensional plane can be determined as the projection overlapping area corresponding to the overpass road.

[0043] As an example, referring to Figure 1 shown in, the projection overlapping area is the overlapping part of the projection of overpass road R1 on the two-dimensional plane and the projection of overpass road R2 on the two-dimensional plane, and this projection overlapping area corresponds to overpass road R1 and overpass road R2 respectively.

[0044] In the embodiments of the present disclosure, the projection overlapping areas corresponding to each overpass road can be recorded in the high-precision map. When the host vehicle is driving on an overpass road with an overpass relationship, the projection overlapping area corresponding to the overpass road where the host vehicle is located can be obtained based on the map data in the high-precision map.

[0045] Step S220: In response to detecting that the projection of the position of the obstacle is located within the projection overlapping area, obtain the actual height difference between the position of the host vehicle and the position of the obstacle.

[0046] Among them, the obstacle can be an obstacle such as a vehicle or a pedestrian. The position of the obstacle can be sensed by the environmental perception device installed on the host vehicle.

[0047] When the projection of the position of the obstacle is located within the projection overlapping area, referring to the example in Figure 1 the obstacle may be in area a1 of overpass road R1 or area a2 of overpass road R2, that is, the obstacle may be on overpass road R1 or overpass road R2.

[0048] In the embodiments of the present disclosure, the actual height difference between the position of the host vehicle and the position of the obstacle is the height difference between the position of the host vehicle and the position of the obstacle in the real world. The actual height difference between the position of the host vehicle and the position of the obstacle can be used to subsequently determine the overpass road where the obstacle actually is.

[0049] Step S230: Based on the relative height information of the preset overpass roads, determine the relative height difference between the position of the host vehicle and the position of the obstacle in at least two overpass roads corresponding to the projection overlapping area.

[0050] In the embodiments of the present disclosure, the relative height information of each overpass road can be recorded in the map data of the high-precision map. As an example, the road lines representing each overpass road in the high-precision map can be obtained by sequentially connecting multiple road points, and the relative height values of these road points can be recorded in the map data of the high-precision map.

[0051] The obstacle may be in at least two overpass roads corresponding to the projection overlapping area. Therefore, the relative height differences between the position of the host vehicle and the positions of the obstacles in at least two overpass roads corresponding to the projection overlapping area can be determined. Generally, at least two calculated relative height differences correspond to different overpass roads.

[0052] As an example, referring to Figure 1 as shown in, the obstacle may be in overpass road R1 or overpass road R2. If the position of the obstacle in overpass road R1 is denoted as B1 and the position of the obstacle in overpass road R2 is denoted as B2, then the relative height difference between the position A of the host vehicle and the position B1, and the relative height difference between the position A of the host vehicle and the position B2 can be determined respectively.

[0053] Step S240: Determine the overpass road where the obstacle is located based on each relative height difference and the actual height difference.

[0054] In the embodiments of the present disclosure, both the relative height difference and the actual height difference are used to represent the height situation between the position of the host vehicle and the position of the obstacle. The relative height difference corresponding to the overpass road where the obstacle actually is should be consistent with the actual height difference. Therefore, the overpass road where the obstacle is located can be determined according to each relative height difference and the actual height difference.

[0055] The method provided by the embodiments of the present disclosure includes: in response to the host vehicle driving on overpass roads with overpass relationships, obtaining a projection overlapping area corresponding to the overpass road where the host vehicle is located, where the projection overlapping area is the overlapping area after the overpass road where the host vehicle is located and at least one overpass road are projected onto a two-dimensional plane; in response to detecting that the projection of the position of the obstacle is located within the projection overlapping area, obtaining the actual height difference between the position of the host vehicle and the position of the obstacle; based on the relative height information of each overpass road with overpass relationships preset, determining the relative height differences between the position of the host vehicle and the positions of the obstacles in at least two overpass roads corresponding to the projection overlapping area; and determining the overpass road where the obstacle is located based on each relative height difference and the actual height difference. In this solution, the overpass road where the obstacle actually is can be effectively determined, providing a basis for predicting the running trajectory of the obstacle subsequently, and then effectively controlling the vehicle based on the running trajectory of the obstacle, which helps to improve the safety of the vehicle.

[0056] In the embodiments of the present disclosure, the relative height differences between the position of the host vehicle and the positions of the obstacles in different interchange roads are determined according to the relative height information recorded in the high-precision map. Then, according to the relative height differences and the actual height difference, the interchange road where the obstacle is located is determined. Based on the relative height information in the high-precision map provided in this solution, the interchange road where the obstacle is located can be effectively determined, and the defect that the high-precision map in the related art cannot provide elevation information and thus cannot determine the interchange road where the obstacle is located can be overcome.

[0057] In an alternative embodiment of the present disclosure, determining the interchange road where the obstacle is located based on the relative height differences and the actual height difference includes:

[0058] Determine the relative height difference closest to the actual height difference as the target relative height difference;

[0059] Determine the interchange road corresponding to the target relative height difference as the interchange road where the obstacle is located.

[0060] In the embodiments of the present disclosure, after the relative height differences between the positions of the obstacle in different interchange roads and the position of the host vehicle are determined respectively, the relative height differences can be compared with the actual height difference.

[0061] Since the relative height difference corresponding to the interchange road where the obstacle actually is should be consistent with the actual height difference, the target relative height difference closest to the actual height difference can be determined from the relative height differences. The target relative height difference is the relative height difference corresponding to the interchange road where the obstacle actually is. Therefore, the interchange road corresponding to the target relative height difference can be determined as the interchange road where the obstacle is located.

[0062] As an example, referring to Figure 1 as shown in, the interchange roads corresponding to the projection overlapping area are interchange road R1 and interchange road R2, that is, the obstacle may be on interchange road R1 or interchange road R2. Denote the position of the obstacle on interchange road R1 as B1, and the position of the obstacle on interchange road R2 as B2. Based on the relative height information of each interchange road, it can be determined that the relative height difference between the position A of the host vehicle and the position B1 is 5 meters, and the relative height difference between the position A of the host vehicle and the position B2 is 0.3 meters. The actual height difference between the position A of the host vehicle and the actual position B of the obstacle is 0.2 meters. It can be seen that the relative height difference between the position A of the host vehicle and the position B2 is the closest to the actual height difference. The relative height difference between the position A of the host vehicle and the position B2 is the target relative height difference, and the interchange road R2 corresponding to this target relative height difference is the interchange road where the obstacle is located.

[0063] In an alternative embodiment of the present disclosure, obtaining the actual height difference between the position of the host vehicle and the position of the obstacle includes:

[0064] In the local map constructed based on the environmental information of the host vehicle, query the first height of the position of the host vehicle and the second height of the position of the obstacle;

[0065] Based on the first height and the second height, determine the actual height difference between the position of the host vehicle and the position of the obstacle.

[0066] In the embodiments of the present disclosure, the environmental information can be sensed by the environmental perception device installed on the host vehicle, including but not limited to the point cloud data of the road environment, the image data of the road environment, etc. Based on the environmental information, a local map of the environment where the host vehicle is located can be constructed. From this local map, the first height of the position of the host vehicle in the local map and the second height of the position of the obstacle in the local map can be queried. According to the first height and the second height, the actual height difference between the host vehicle and the obstacle can be determined. Specifically, the first height and the second height can be subtracted to obtain the actual height difference between the host vehicle and the obstacle.

[0067] As an example, when the obstacle is a vehicle, the height of the center point of the host vehicle can be used as the first height, and the height of the center point of the obstacle vehicle can be used as the second height.

[0068] In an alternative embodiment of the present disclosure, based on the relative height information of the pre-set interchange roads, determining the relative height difference between the position of the host vehicle and the position of the obstacle in at least two interchange roads corresponding to the projection overlapping area includes:

[0069] In response to the actual height difference between the position of the host vehicle and the position of the obstacle being no greater than a preset value, based on the relative height information of the pre-set interchange roads, determine the relative height difference between the position of the host vehicle and the position of the obstacle in at least two interchange roads corresponding to the projection overlapping area.

[0070] In the embodiments of the present disclosure, the host vehicle may detect a situation where the actual height difference between the position of the host vehicle and the position of the obstacle is relatively large. In this case, the obstacle is obviously not on the interchange road where the host vehicle is located. In some typical scenarios, for example, in an interchange relationship that only includes the interchange road where the host vehicle is located and another interchange road, it can be directly determined that the obstacle is on another interchange road different from the interchange road where the host vehicle is located.

[0071] Generally speaking, the design requirements of a road will limit the longitudinal slope of the road so that it cannot exceed the set maximum longitudinal slope, ensuring that the height difference of the road within a certain distance at the maximum slope will not be greater than a specific value. For example, the design requirements of the road limit the longitudinal slope of the road so that it cannot exceed the maximum longitudinal slope of 6°, which will make the height difference of the road within 100 meters not greater than 11 meters.

[0072] Therefore, the above preset value can be determined according to the distance range within which the host vehicle can detect obstacles. For example, if the distance range within which the host vehicle can detect obstacles is 100 meters, the above preset value can be set to 11 meters. When it is detected that the actual height difference between the position of the host vehicle and the position of the obstacle is greater than the preset value, it means that the obstacle and the host vehicle are on different interchange roads.

[0073] In the embodiments of the present disclosure, when the actual height difference between the position of the host vehicle and the position of the obstacle is greater than the preset value, the interchange road where the obstacle is located can be directly determined according to the actual height difference between the position of the host vehicle and the position of the obstacle, without the need to judge based on the relative height information of the interchange roads recorded in the high-precision map, which can save computing power. When the actual height difference between the position of the host vehicle and the position of the obstacle is not greater than the preset value, the relative height differences between the position of the host vehicle and the positions of the obstacle in different interchange roads can be determined according to the relative height information recorded in the high-precision map, and then the interchange road where the obstacle is located can be determined according to the relative height differences and the actual height difference. Based on the relative height information provided in the high-precision map, the interchange road where the obstacle is located can be effectively determined.

[0074] By judging whether the actual height difference between the position of the host vehicle and the position of the obstacle is greater than the preset value, and then selecting different schemes to determine the interchange road where the obstacle is located, it helps to save computing power and ensure the effective determination of the interchange road where the obstacle is located.

[0075] As an example, referring to Figure 1 as shown in, R1 is a sunken road, such as a tunnel, and R1 will sink to the lower side of R2. When the host vehicle is at point A on R1 and it is detected that the obstacle is at point B, the height of the position of the host vehicle and the height of the position of the obstacle may be relatively close, and the actual height difference may be small. At this time, it is impossible to directly judge the interchange road where the obstacle is located according to the actual height difference, and the scheme shown in Figure 2 can be adopted to determine the interchange road where the obstacle is located.

[0076] In an alternative embodiment of the present disclosure, based on the relative height information of the preset interchange roads, determining the relative height differences between the position of the host vehicle and the positions of the obstacles in at least two interchange roads corresponding to the projection overlapping area includes:

[0077] Based on the relative height information of the pre-set interchange roads, obtain the first relative height of the position where the host vehicle is located, and the second relative height of the position where the obstacles are located among at least two interchange roads corresponding to the projection overlapping area;

[0078] Based on the first relative height and each second relative height, determine the relative height difference.

[0079] In the embodiments of the present disclosure, the first relative height of the position where the host vehicle is located and the second relative height of the position where the obstacles are located among at least two interchange roads corresponding to the projection overlapping area can be respectively queried from the relative height information of each interchange road recorded in the map data of the high-precision map, and then the first relative height is respectively compared with each second relative height to determine each relative height difference.

[0080] As an example, referring to Figure 1 shown in, the host vehicle is located at position A on R1, and the obstacle may be on interchange road R1 or interchange road R2. If the position where the obstacle is on interchange road R1 is denoted as B1 and the position where the obstacle is on interchange road R2 is denoted as B2, from the relative height information of each interchange road recorded in the map data of the high-precision map, the relative height of position A is queried to be 55 meters, the relative height of position B1 is 50 meters, and the relative height of position B2 is 54.7 meters. At this time, the relative height difference between position A and position B1 can be calculated to be 5 meters, and the relative height difference between position A and position B2 is 0.3 meters.

[0081] In an alternative manner of the present disclosure, the relative height information includes the relative height values of each road point in the interchange road. Based on the relative height information of the pre-set interchange road, obtaining the first relative height of the position where the host vehicle is located and the second relative height of the position where the obstacles are located among at least two interchange roads corresponding to the projection overlapping area includes:

[0082] Determine the road points whose distance from the position where the host vehicle is located satisfies the first preset condition as the first target road points, and determine the road points whose positions where the obstacles are located among at least two interchange roads corresponding to the projection overlapping area satisfy the second preset condition as the second target road points;

[0083] Determine the relative height value of the first target road point as the first relative height of the position where the host vehicle is located, and determine the relative height value of the second target road point as the second relative height of the position where the obstacles are located among at least two interchange roads corresponding to the projection overlapping area.

[0084] In the embodiments of the present disclosure, the road lines representing each interchange road in the high-precision map can be obtained by sequentially connecting multiple road points, and the relative height values of these road points can be recorded in the map data of the high-precision map.

[0085] In actual use, each road point is generally set at equal intervals with a certain distance apart. For example, a road point is set every 0.2 meters, which may make it impossible for the position of the host vehicle and the position of the obstacle vehicle to coincide with the road point.

[0086] In the embodiments of the present disclosure, the relative height value of the road point relatively close to the position of the host vehicle can be used as the first relative height of the position of the host vehicle, and the relative height value of the road point relatively close to the position of the obstacle vehicle can be used as the second relative height of the position of the obstacle vehicle.

[0087] Specifically, a first preset condition and a second preset condition can be preconfigured. When the distance between the road point and the position of the host vehicle meets the first preset condition, it is considered that the road point is relatively close to the position of the host vehicle, that is, the first target road point, and the relative height value of this road point is used as the first relative height of the position of the host vehicle. When the distance between the road point and the position of the obstacle meets the second preset condition, it is considered that the road point is relatively close to the position of the obstacle, that is, the second target road point, and the relative height value of this road point is used as the second relative height of the position of the obstacle.

[0088] As an example, the first preset condition can be to use the road point closest to the position of the host vehicle as the first target road point, and the second preset condition can be to use the road point closest to the position of the obstacle as the second target road point.

[0089] In an alternative manner of the present disclosure, the relative height value of the road point is determined in the following manner:

[0090] Determine a reference point from the interchange road at the bottommost layer in the interchange relationship;

[0091] Based on the height difference between each road point and the reference point, determine the relative height value of the road point.

[0092] In the embodiments of the present disclosure, when calibrating the relative height value of the road point, a reference point can be determined from the interchange road at the bottommost layer, and this reference point can be randomly selected from the road points of the bottommost interchange road.

[0093] The relative height value of the reference point can be 0. Measure the height difference between each road point and the reference point respectively, and use the height difference between this road point and the reference point as the relative height value of the road point. The relative height value can be positive or negative. Determine the relative height value of the road point higher than the reference point as positive, and determine the relative height value of the road point lower than the reference point as negative.

[0094] For example, if a road point is 5 meters above the reference point, the relative height value of this road point can be determined as 5 meters. If another road point is 5 meters below the reference point, the relative height value of this road point can be determined as -5 meters.

[0095] In the embodiments of the present disclosure, to meet relevant requirements, the relative height value can be graded in 0.2-meter intervals. The calculated relative height value is denoted as the initial relative height value, and the relative height value recorded in the high-precision map after processing is denoted as the final relative height value. When the initial relative height falls within a certain interval graded in 0.2-meter intervals, take the absolute value and round up, that is, take the largest absolute value within the range of this interval to obtain the final relative height value.

[0096] For example: the initial relative height value = 10.176, which falls within the interval of 10 to 10.2, rounds up to 10.2, and the final relative height value is 10.2;

[0097] The initial relative height value = -10.107, take the absolute value which falls within the interval of -10 to -10.2, rounds up to 10.2, and the final relative height value is -10.2.

[0098] The relative height value is graded in 0.2-meter intervals, which is determined with reference to the requirements for slope in relevant drawing requirements. In the relevant drawing requirements, the slope of the road should be graded in units of 0.1 degree. When the initial slope value falls within a certain interval, the absolute value should be taken and rounded up, that is, take the largest absolute value within the range of this interval to obtain the final slope value.

[0099] For example, the initial slope value = 0.107, which falls within the interval of 0.1 to 0.2, rounds up to 0.2, and the final slope value is 0.2;

[0100] The true slope value = -0.107, take the absolute value which falls within the interval of 0.1 to 0.2, rounds up to 0.2, and the final slope value is -0.2.

[0101] The relative height difference between two points 100 meters apart on the road is 20 meters. At this time, the corresponding initial slope is 11.309°, and 11.4° can be taken as the final slope value. Based on the final slope value, it is deduced that the relative height difference between two points 100 meters apart is 20.164 meters. It can be seen that after processing the initial slope value into the final slope value, the error in the relative height difference is 0.164°. And the design requirements of the road limit that the maximum longitudinal slope of the road does not exceed 6°. It can be seen that the situation where the relative height difference between two points 100 meters apart on the above road is 20 meters is extremely rare in actual road design. Therefore, with reference to the error in the relative height difference of 0.164 meters caused by taking 11.4° as the final slope value when the initial slope is 11.309°, a slightly larger value of 0.2 meters is taken on the basis of 0.164 meters, so that the relative height value is graded in 0.2-meter intervals to meet relevant requirements.

[0102] In an alternative implementation of the present disclosure, after determining the interchange road where the obstacle is located, the method further includes:

[0103] Predict the movement trajectory of the obstacle based on the interchange road where the obstacle is located.

[0104] In an embodiment of the present disclosure, after determining the interchange road where the obstacle is located, road-related information of the interchange road where the obstacle is located, such as the route and direction of the road, can be obtained from the high-precision map, so as to predict the movement trajectory of the obstacle on the interchange road where it is located.

[0105] In an alternative implementation of the present disclosure, after predicting the movement trajectory of the obstacle, the method further includes:

[0106] Perform safety control on the host vehicle based on the movement trajectory.

[0107] In an embodiment of the present disclosure, after predicting the movement trajectory of the obstacle, it is possible to analyze whether there is a collision risk between the obstacle and the host vehicle according to the movement trajectory of the obstacle, so as to perform safety control on the host vehicle, such as controlling the host vehicle to avoid obstacles and operate the brake lights.

[0108] Specifically, the planned path of the host vehicle can be obtained, and whether there is a collision risk between the obstacle and the host vehicle can be analyzed in combination with the movement trajectory of the obstacle.

[0109] The solution provided by the embodiment of the present disclosure can accurately predict the movement trajectory of the obstacle vehicle in the interchange scenario on the basis of effectively determining the interchange road where the obstacle is located, so as to determine whether the host vehicle needs to perform safety control operations such as deceleration, stopping, and obstacle avoidance, improve the intelligence level of the driverless vehicle, and expand the range of the Operational Design Domain (ODD) of the driverless vehicle.

[0110] In the high-precision map provided by the embodiment of the present disclosure, a hierarchical identifier can also be assigned to each interchange road in the interchange relationship. For example, the hierarchical identifier of the bottommost interchange road is 0, and it increases by 1 for each upper layer. When there are multiple groups in the interchange relationship, the interchange relationship between every two interchange roads can be recorded through the hierarchical identifier. For example, if there are three interchange roads in the interchange relationship and the hierarchical identifiers are defined as 0, 1, and 2, the interchange relationship can be recorded as 0&1, 0&2, 1&2.

[0111] As an example, Figure 3 、 4 FIGS. 5 show schematic diagrams of typical interchange relationships expressed in the high-precision map provided by the embodiments of the present application. As shown in Figure 3 , road1 and road2 have a projection overlapping area, and road1 and road2 constitute this group of interchange relationships. As shown in Figure 4As shown in the figure, there are projection overlapping areas between road1 and road3, road4, and between road2 and road3, road4. road1, road2, road3, and road4 form this set of interchange relationships. As Figure 5 shown in the figure, there is a projection overlapping area between road1 and road2, and between road2 and road3. road1, road2, and road3 form this set of interchange relationships.

[0112] In the high-precision map provided by the embodiments of the present disclosure, the lane lines, lane centerlines, and road boundary lines of the interchange roads can be recorded. The lane lines, lane centerlines, and road boundary lines are all composed of road points, and the road points of the lane lines, lane centerlines, and road boundary lines can respectively record relative height information.

[0113] In the high-precision map provided by the embodiments of the present disclosure, the range of the projection overlapping area can be identified by the road points on the lane centerline.

[0114] As an example, Figure 6 provides a schematic diagram of the range of the projection overlapping area in a set of interchange roads.

[0115] As Figure 6 shown in the figure, the interchange roads included in this interchange relationship are road1, road2, and road3. Among them, the level identifier of road2 is 0, the level identifier of road1 is 1, and the level identifier of road3 is 2.

[0116] s0, s1, s2, and s3 are all road points on the lane centerline of road1. s0 and s3 are used to identify the starting range of road1. s1 and s2 are the intersection points of the lane centerline of road1 and the road boundary line of road2, and are used to identify the range of the projection overlapping area between road1 and road2 on road1. At the same time, s1 and s2 are also the intersection points of the lane centerline of road1 and the road boundary line of road3, and are used to identify the range of the projection overlapping area between road1 and road3 on road1.

[0117] s4, s5, s6, and s7 are all road points on the lane centerline of road2. s4 and s7 are used to identify the starting range of road2. s5 and s6 are the intersection points of the lane centerline of road2 and the road boundary line of road1, and are used to identify the range of the projection overlapping area between road1 and road2 on road2. S4 and s7 are also the intersection points of the lane centerline of road2 and the road boundary line of road3, and are used to identify the range of the projection overlapping area between road2 and road3 on road2.

[0118] S8, S9, S10, and S11 are all road points on the center line of lane of Road3. S8 and S11 are used to identify the starting range of Road3. S9 and S10 are the intersections of the center line of the lane of Road3 and the road boundary line of Road1, and are used to identify the range of the projection overlapping area of Road1 and Road3 on Road3. S8 and S11 are also the intersections of the center line of the lane of Road3 and the road boundary line of Road2, and are used to identify the range of the projection overlapping area of Road2 and Road3 on Road3.

[0119] In the interchange relationship defined in the high-precision map provided by the embodiments of the present disclosure, it may include multiple related interchange roads. The specific determination method is as follows:

[0120] 1. After determining the projection overlapping area formed by two interchange roads, starting from the boundary of the projection area, extend a predetermined length (such as 100 meters) along the road precursor directions of these two interchange roads. If there are other interchange roads within the predetermined length at this time, these interchange roads can be included in this group of interchange relationships.

[0121] As an example, Figure 7 and Figure 8 respectively show schematic diagrams of the interchange relationships defined in the high-precision map provided by the embodiments of the present disclosure.

[0122] As Figure 7 shown in, there is an interchange relationship between interchange road Road1 and interchange road Road2. Starting from the boundary of the projection overlapping area of Road1 and Road2, extend 100 meters along the road precursor directions of Road1 and Road2 respectively. At this time, there are no other interchange roads within the extended 100 meters, and it can be determined that this group of interchange relationships includes interchange road Road1 and interchange road Road2.

[0123] As Figure 8 shown in, there is an interchange relationship between interchange road Road1 and interchange road Road2. Starting from the boundary of the projection overlapping area of Road1 and Road2, extend 100 meters along the road precursor directions of Road1 and Road2 respectively. At this time, it is found that interchange road Road3 is within the 100 meters extended along the road precursor direction of Road2. At this time, it can be determined that this group of interchange relationships includes Road1, Road2, and Road3.

[0124] 2. After determining the projection overlapping area formed by two interchange roads, starting from the boundary of the projection area, extend a predetermined length (such as 100 meters) along the road precursor directions of these two interchange roads. At this time, if there are other interchange roads within the predetermined length and these interchange roads also have an interchange relationship, the interchange relationships of these interchange roads can be jointly included in this group of interchange relationships.

[0125] As an example, Figure 9 shows a schematic diagram of the interchange relationship defined in the high-precision map provided by the embodiments of the present disclosure.

[0126] As Figure 9 shown, there is an interchange relationship between interchange road road1 and interchange road road2. Starting from the boundary of the projection overlapping area of road1 and road2, extend 100 meters along the road precursor directions of road1 and road2 respectively. At this time, it can be found that interchange road road3 is within the 100 meters extended along the road precursor direction of road2, and there is an interchange relationship between road3 and interchange road road4. Then, the interchange relationships between road3 and road4, and between road1 and road2 can be jointly included in a group of interchange relationships. On this basis, starting from the boundary of the projection overlapping area of road3 and road4, extend 100 meters along the road precursor directions of road3 and road4 respectively to determine whether there are other interchange roads within the predetermined length. As Figure 9 shown, there are no other interchange roads within the predetermined length. At this time, it can be determined that this group of interchange relationships includes the interchange relationship between road1 and road2 and the interchange relationship between road3 and road4.

[0127] In the high-precision map provided by the embodiments of the present disclosure, by including multiple related interchange roads in the interchange relationship, more road level identifiers of each interchange road that can be included in the defined interchange relationship, and relative height information of each interchange road can be obtained, so as to better display the actual interchange situation.

[0128] Based on the same principle as the method shown in Figure 2 , Figure 10 shows a schematic structural diagram of a device for determining the interchange road where an obstacle is located provided by the embodiments of the present disclosure. As Figure 10 shown, the device 1000 for determining the interchange road where the obstacle is located may include:

[0129] A projection overlapping area acquisition module 1010, configured to obtain a projection overlapping area corresponding to the interchange road where the host vehicle is located in response to the host vehicle traveling on an interchange road with an interchange relationship. The projection overlapping area is the overlapping area after the interchange road where the host vehicle is located and at least one interchange road are projected onto a two-dimensional plane;

[0130] The actual height difference acquisition module 1020 is configured to obtain the actual height difference between the position of the host vehicle and the position of the obstacle in response to detecting that the projection of the position where the obstacle is located is within the projection overlapping area;

[0131] The relative height difference determination module 1030 determines the relative height difference between the position of the host vehicle and the position of the obstacle in at least two overpass roads corresponding to the projection overlapping area based on the relative height information of the pre-set overpass roads with overpass relationships;

[0132] The overpass road determination module 1040 where the obstacle is located is configured to determine the overpass road where the obstacle is located based on each relative height difference and the actual height difference.

[0133] The device provided by the embodiment of the present disclosure, by responding to the host vehicle driving on overpass roads with overpass relationships, obtains a projection overlapping area corresponding to the overpass road where the host vehicle is located, and the projection overlapping area is the overlapping area after the overpass road where the host vehicle is located and at least one overpass road are projected onto a two-dimensional plane; in response to detecting that the projection of the position where the obstacle is located is within the projection overlapping area, obtains the actual height difference between the position of the host vehicle and the position of the obstacle; based on the relative height information of each overpass road with overpass relationships pre-set, determines the relative height difference between the position of the host vehicle and the position of the obstacle in at least two overpass roads corresponding to the projection overlapping area; and determines the overpass road where the obstacle is located based on each relative height difference and the actual height difference. In this solution, it is possible to effectively determine the actual overpass road where the obstacle is located, which provides a basis for predicting the running trajectory of the obstacle subsequently, and then effectively controlling the vehicle based on the running trajectory of the obstacle, and helps to improve the safety of the vehicle.

[0134] Optionally, the overpass road determination module where the obstacle is located is specifically configured to:

[0135] Determine the relative height difference closest to the actual height difference as the target relative height difference;

[0136] Determine the overpass road corresponding to the target relative height difference as the overpass road where the obstacle is located.

[0137] Optionally, when the actual height difference acquisition module obtains the actual height difference between the position of the host vehicle and the position of the obstacle, it is specifically configured to:

[0138] In the local map constructed based on the environmental information of the host vehicle environment, query the first height of the position of the host vehicle and the second height of the position of the obstacle;

[0139] Based on the first height and the second height, determine the actual height difference between the position of the host vehicle and the position of the obstacle.

[0140] Optionally, the relative height difference determination module is specifically configured to:

[0141] In response to the actual height difference between the position of the host vehicle and the position of the obstacle being not greater than a preset value, based on the relative height information of the pre-set interchange roads, determine the relative height difference between the position of the host vehicle and the position of the obstacle in at least two interchange roads corresponding to the projection overlapping area.

[0142] Optionally, the relative height difference determination module is specifically configured to:

[0143] Based on the relative height information of the pre-set interchange roads, obtain the first relative height of the position of the host vehicle and the second relative height of the position of the obstacle in at least two interchange roads corresponding to the projection overlapping area;

[0144] Based on the first relative height and each second relative height, determine the relative height difference.

[0145] Optionally, the relative height information includes the relative height values of each road point in the interchange road. When the relative height difference determination module obtains the first relative height of the position of the host vehicle and the second relative height of the position of the obstacle in at least two interchange roads corresponding to the projection overlapping area based on the relative height information of the pre-set interchange roads, it is specifically configured to:

[0146] Determine the road points whose distance from the position of the host vehicle meets the first preset condition as the first target road points, and determine the road points whose positions in at least two interchange roads corresponding to the projection overlapping area meet the second preset condition as the second target road points;

[0147] Determine the relative height value of the first target road point as the first relative height of the position of the host vehicle, and determine the relative height value of the second target road point as the second relative height of the position of the obstacle in at least two interchange roads corresponding to the projection overlapping area.

[0148] Optionally, the relative height value of the road point is determined by the following method:

[0149] Determine a reference point from the interchange road located at the bottommost layer in the interchange relationship;

[0150] Based on the height difference between each road point and the reference point, determine the relative height value of the road point.

[0151] Optionally, the above device further includes:

[0152] An obstacle trajectory prediction module, configured to predict the running trajectory of the obstacle based on the interchange road where the obstacle is located after determining the interchange road where the obstacle is located

[0153] Optionally, the above device further includes:

[0154] The host vehicle control module is configured to perform safety control on the host vehicle based on the predicted running trajectory of an obstacle after predicting the running trajectory of the obstacle.

[0155] It can be understood that each of the above modules of the device for determining the interchange road where the obstacle is located in the embodiments of the present disclosure has the function of implementing the corresponding steps of the method for determining the interchange road where the obstacle is located in the embodiments shown in Figure 2 . The function can be implemented by hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions. The above modules can be software and / or hardware, and each of the above modules can be implemented separately or multiple modules can be integrated to implement. For the function descriptions of each module of the device for determining the interchange road where the obstacle is located, reference can specifically be made to the corresponding descriptions of the method for determining the interchange road where the obstacle is located in the embodiments shown in Figure 2 , and details are not described herein again.

[0156] In the technical solution of the present disclosure, the collection, storage, use, processing, transmission, provision, and disclosure of the user's personal information involved all comply with the provisions of relevant laws and regulations and do not violate public order and good customs.

[0157] According to the embodiments of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium, a computer program product, and an autonomous vehicle.

[0158] The electronic device includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the method for determining the interchange road where the obstacle is located provided in the embodiments of the present disclosure.

[0159] Compared with the prior art, the electronic device obtains a projection overlapping area corresponding to the interchange road where the host vehicle is located by responding to the host vehicle driving on an interchange road with an interchange relationship. The projection overlapping area is the overlapping area of the interchange road where the host vehicle is located and at least one interchange road projected onto a two-dimensional plane. In response to detecting that the projection of the position of the obstacle is located within the projection overlapping area, the actual height difference between the position of the host vehicle and the position of the obstacle is obtained. Based on the relative height information of each interchange road with an interchange relationship preset, the relative height differences between the position of the host vehicle and the positions of the obstacles in at least two interchange roads corresponding to the projection overlapping area are determined. Based on each relative height difference and the actual height difference, the interchange road where the obstacle is located is determined. In this solution, the interchange road where the obstacle actually is can be effectively determined, providing a basis for predicting the running trajectory of the obstacle subsequently and then effectively controlling the vehicle safely based on the running trajectory of the obstacle, which helps to improve the safety of the vehicle.

[0160] The readable storage medium is a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to cause a computer to execute the method for determining the interchange road where an obstacle is located as provided in the embodiments of the present disclosure.

[0161] Compared with the prior art, the readable storage medium obtains a projection overlapping area corresponding to the interchange road where the host vehicle is located by responding to the host vehicle driving on an interchange road with an interchange relationship. The projection overlapping area is the overlapping area of the interchange road where the host vehicle is located and at least one interchange road projected onto a two-dimensional plane. In response to detecting that the projection of the position of the obstacle is located within the projection overlapping area, the actual height difference between the position of the host vehicle and the position of the obstacle is obtained. Based on the relative height information of each interchange road with an interchange relationship preset, the relative height differences between the position of the host vehicle and the positions of the obstacles in at least two interchange roads corresponding to the projection overlapping area are determined. Based on each relative height difference and the actual height difference, the interchange road where the obstacle is located is determined. In this solution, the interchange road where the obstacle actually is can be effectively determined, providing a basis for predicting the running trajectory of the obstacle subsequently and then effectively controlling the vehicle safely based on the running trajectory of the obstacle, which helps to improve the safety of the vehicle.

[0162] The computer program product includes a computer program, and when the computer program is executed by a processor, it implements the method for determining the interchange road where an obstacle is located as provided in the embodiments of the present disclosure.

[0163] Compared with the prior art, the computer program product obtains a projection overlapping area corresponding to the interchange road where the host vehicle is located by responding to the host vehicle driving on an interchange road with an interchange relationship. The projection overlapping area is the overlapping area after the interchange road where the host vehicle is located and at least one interchange road are projected onto a two-dimensional plane. In response to detecting that the projection of the position of the obstacle is located within the projection overlapping area, the actual height difference between the position of the host vehicle and the position of the obstacle is obtained. Based on the relative height information of each interchange road with an interchange relationship preset, the relative height difference between the position of the host vehicle and the position of the obstacle in at least two interchange roads corresponding to the projection overlapping area is determined. Based on each relative height difference and the actual height difference, the interchange road where the obstacle is located is determined. In this solution, the interchange road where the obstacle actually is can be effectively determined, providing a basis for predicting the running track of the obstacle subsequently, and then effectively controlling the vehicle based on the running track of the obstacle, which helps to improve the safety of the vehicle.

[0164] The autonomous vehicle includes the above-mentioned electronic device.

[0165] Compared with the prior art, the autonomous vehicle obtains a projection overlapping area corresponding to the interchange road where the host vehicle is located by responding to the host vehicle driving on an interchange road with an interchange relationship. The projection overlapping area is the overlapping area after the interchange road where the host vehicle is located and at least one interchange road are projected onto a two-dimensional plane. In response to detecting that the projection of the position of the obstacle is located within the projection overlapping area, the actual height difference between the position of the host vehicle and the position of the obstacle is obtained. Based on the relative height information of each interchange road with an interchange relationship preset, the relative height difference between the position of the host vehicle and the position of the obstacle in at least two interchange roads corresponding to the projection overlapping area is determined. Based on each relative height difference and the actual height difference, the interchange road where the obstacle is located is determined. In this solution, the interchange road where the obstacle actually is can be effectively determined, providing a basis for predicting the running track of the obstacle subsequently, and then effectively controlling the vehicle based on the running track of the obstacle, which helps to improve the safety of the vehicle.

[0166] Figure 11 FIG. shows a schematic block diagram of an example electronic device 1100 that can be used to implement the embodiments of the present disclosure. The electronic device is intended to represent various forms of digital computers, such as, laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as, personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0167] As Figure 11 shown, the electronic device 1100 includes a computing unit 1110, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 1120 or a computer program loaded from a storage unit 1180 into a random access memory (RAM) 1130. In the RAM 1130, various programs and data required for the operation of the device 1100 can also be stored. The computing unit 1110, the ROM 1120, and the RAM 1130 are connected to each other via a bus 1140. An input / output (I / O) interface 1150 is also connected to the bus 1140.

[0168] A plurality of components in the device 1100 are connected to the I / O interface 1150, including: an input unit 1160, such as a keyboard, a mouse, etc.; an output unit 1170, such as various types of displays, speakers, etc.; a storage unit 1180, such as a magnetic disk, an optical disc, etc.; and a communication unit 1190, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 1190 allows the device 1100 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0169] The computing unit 1110 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 1110 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The computing unit 1110 executes the method for determining the interchange road where an obstacle is located provided in the embodiments of the present disclosure. For example, in some embodiments, executing the method for determining the interchange road where an obstacle is located provided in the embodiments of the present disclosure can be implemented as a computer software program, which is tangibly included in a machine-readable medium, such as the storage unit 1180. In some embodiments, part or all of the computer program can be loaded and / or installed onto the device 1100 via the ROM 1120 and / or the communication unit 1190. When the computer program is loaded into the RAM 1130 and executed by the computing unit 1110, one or more steps of the method for determining the interchange road where an obstacle is located provided in the embodiments of the present disclosure can be executed. Alternatively, in other embodiments, the computing unit 1110 can be configured to execute the method for determining the interchange road where an obstacle is located provided in the embodiments of the present disclosure by any other appropriate means (for example, by means of firmware).

[0170] The various embodiments of the systems and techniques described above in this specification can be implemented in digital electronic circuitry, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems-on-chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be a special-purpose or general-purpose programmable processor that receives data and instructions from, and transmits data and instructions to, a storage system, at least one input device, and at least one output device.

[0171] The program code for implementing the methods of the present disclosure can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions / operations specified in the flowchart and / or block diagram to be implemented. The program code can be executed entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine, or entirely on the remote machine or server.

[0172] In the context of this disclosure, a machine-readable medium can be a tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0173] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the computer. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, speech input, or tactile input).

[0174] The systems and techniques described herein can be implemented in a computing system including backend components (e.g., as a data server), or a computing system including middleware components (e.g., an application server), or a computing system including frontend components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system including any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), and the Internet.

[0175] A computer system can include a client and a server. The client and the server are generally far from each other and typically interact through a communication network. The relationship between the client and the server is generated by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, a server of a distributed system, or a server incorporating a blockchain.

[0176] It should be understood that various forms of the processes shown above can be used, with steps reordered, added, or deleted. For example, the steps recited in this disclosure can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and no limitation is imposed herein.

[0177] The above specific embodiments do not constitute a limitation on the protection scope of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure shall be included within the protection scope of this disclosure.

Claims

1. A method for determining an interchange road where an obstacle is located, comprising: In response to the host vehicle traveling on an interchange road with an interchange relationship, obtaining a projection overlapping area corresponding to the interchange road where the host vehicle is located, where the projection overlapping area is the overlapping area after the interchange road where the host vehicle is located and at least one interchange road are projected onto a two-dimensional plane; In response to detecting that the projection of the position where the obstacle is located is within the projection overlapping area, obtaining the actual height difference between the position where the host vehicle is located and the position where the obstacle is located; Based on the relative height information of the preset interchange roads, determining the relative height difference of the position where the obstacle is located among at least two interchange roads corresponding to the projection overlapping area respectively where the host vehicle is located; Based on each of the relative height differences and the actual height difference, determining the interchange road where the obstacle is located.

2. The method according to claim 1, wherein The determining the interchange road where the obstacle is located based on each of the relative height differences and the actual height difference includes: Determining the relative height difference closest to the actual height difference as the target relative height difference; Determining the interchange road corresponding to the target relative height difference as the interchange road where the obstacle is located.

3. The method according to claim 1 or 2, wherein The obtaining the actual height difference between the position where the host vehicle is located and the position where the obstacle is located includes: In a local map constructed based on the environmental information of the environment where the host vehicle is located, querying the first height of the position where the host vehicle is located and the second height of the position where the obstacle is located; Based on the first height and the second height, determining the actual height difference between the position where the host vehicle is located and the position where the obstacle is located.

4. The method according to claim 1 or 2, wherein The determining the relative height difference of the position where the obstacle is located among at least two interchange roads corresponding to the projection overlapping area respectively where the host vehicle is located based on the relative height information of the preset interchange roads includes: In response to the actual height difference between the position where the host vehicle is located and the position where the obstacle is located being not greater than a preset value, based on the relative height information of the preset interchange roads, determining the relative height difference of the position where the obstacle is located among at least two interchange roads corresponding to the projection overlapping area respectively where the host vehicle is located.

5. The method according to claim 1 or 2, wherein The determining the relative height difference of the position where the obstacle is located among at least two interchange roads corresponding to the projection overlapping area respectively where the host vehicle is located based on the relative height information of the preset interchange roads includes: Based on the relative height information of the preset interchange roads, obtaining the first relative height of the position where the host vehicle is located and the second relative height of the position where the obstacle is located among at least two interchange roads corresponding to the projection overlapping area; Based on the first relative height and each of the second relative heights, determining the relative height difference.

6. The method according to claim 5, wherein, The relative height information includes the relative height values of each road point on the interchange road. The obtaining the first relative height of the position where the host vehicle is located and the second relative height of the position where the obstacle is located among at least two interchange roads corresponding to the projection overlapping area based on the relative height information of the preset interchange roads includes: Determine the road points whose distances from the position of the host vehicle meet the first preset condition as the first target road points, and determine the road points whose positions of the obstacles in at least two overpass roads corresponding to the projection overlapping area meet the second preset condition as the second target road points; Determine the first relative height of the position of the host vehicle based on the relative height value of the first target road point, and determine the second relative height of the position of the obstacle in at least two overpass roads corresponding to the projection overlapping area based on the relative height value of the second target road point.

7. The method according to claim 6, wherein, The relative height value of the road point is determined by the following method: Determine a reference point from the overpass road at the bottommost layer in the overpass relationship; Based on the height difference between each road point and the reference point, determine the relative height value of the road point.

8. The method according to claim 1 or 2, wherein After determining the overpass road where the obstacle is located, the method further includes: Predict the running trajectory of the obstacle based on the overpass road where the obstacle is located.

9. The method according to claim 8, wherein, After predicting the running trajectory of the obstacle, the method further includes: Perform safety control on the host vehicle based on the running trajectory.

10. An apparatus for determining the overpass road where an obstacle is located, comprising: A projection overlapping area acquisition module, configured to acquire a projection overlapping area corresponding to the overpass road where the host vehicle is located in response to the host vehicle driving on an overpass road having an overpass relationship, where the projection overlapping area is an overlapping area after the overpass road where the host vehicle is located and at least one overpass road are projected onto a two-dimensional plane; An actual height difference acquisition module, configured to acquire the actual height difference between the position of the host vehicle and the position of the obstacle in response to detecting that the projection of the position of the obstacle is located in the projection overlapping area; A relative height difference determination module, configured to determine the relative height differences between the position of the host vehicle and the positions of the obstacles in at least two overpass roads corresponding to the projection overlapping area respectively based on the relative height information of the preset overpass roads; An overpass road determination module for the obstacle, configured to determine the overpass road where the obstacle is located based on each of the relative height differences and the actual height difference.

11. The device according to claim 10, wherein, The overpass road determination module for the obstacle is specifically configured to: Determine the relative height difference closest to the actual height difference as the target relative height difference; Determine the overpass road corresponding to the target relative height difference as the overpass road where the obstacle is located.

12. The device according to claim 10 or 11, wherein When the actual height difference acquisition module acquires the actual height difference between the position of the host vehicle and the position of the obstacle, it is specifically configured to: In a local map constructed based on the environmental information of the host vehicle environment, query the first height of the position of the host vehicle and the second height of the position of the obstacle; Based on the first height and the second height, determine the actual height difference between the position of the host vehicle and the position of the obstacle.

13. The device according to claim 10 or 11, wherein, The relative height difference determination module is specifically configured to: In response to the actual height difference between the position of the host vehicle and the position of the obstacle being not greater than a preset value, based on the relative height information of the pre-set interchange roads, determine the relative height difference between the position of the obstacle in at least two interchange roads corresponding to the position of the host vehicle and the projection overlapping area.

14. The device according to claim 10 or 11, wherein The relative height difference determination module is specifically configured to: Based on the relative height information of the pre-set interchange roads, obtain the first relative height of the position of the host vehicle and the second relative height of the position of the obstacle in at least two interchange roads corresponding to the projection overlapping area; Based on the first relative height and each of the second relative heights, determine the relative height difference.

15. The apparatus according to claim 14, wherein, The relative height information includes the relative height values of each road point in the interchange road. When the relative height difference determination module obtains the first relative height of the position of the host vehicle and the second relative height of the position of the obstacle in at least two interchange roads corresponding to the projection overlapping area based on the relative height information of the pre-set interchange roads, it is specifically configured to: Determine the road points whose distance from the position of the host vehicle satisfies the first preset condition as the first target road points, and determine the road points whose position of the obstacle in at least two interchange roads corresponding to the projection overlapping area satisfies the second preset condition as the second target road points; Determine the relative height value of the first target road point as the first relative height of the position of the host vehicle, and determine the relative height value of the second target road point as the second relative height of the position of the obstacle in at least two interchange roads corresponding to the projection overlapping area.

16. The device according to claim 10 or 11, further comprising: An obstacle trajectory prediction module, configured to predict the running trajectory of the obstacle based on the interchange road where the obstacle is located after determining the interchange road where the obstacle is located.

17. An electronic device, comprising: At least one processor; And A memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the method according to any one of claims 1-9.

18. A non-transitory computer-readable storage medium storing computer instructions, wherein, The computer instructions are used to cause the computer to execute the method according to any one of claims 1-9.

19. A computer program product, comprising a computer program, where the computer program implements the method according to any one of claims 1-9 when executed by a processor.

20. An autonomous vehicle, comprising the electronic device according to claim 17.

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