Environmental perception method, device and electronic equipment

Abstract

The present application discloses an environmental perception method, device and electronic device, which first receives first information perceived by a first vehicle, then fuses and calculates the first information with second information perceived by each second vehicle, obtains environmental perception information corresponding to the first vehicle, and finally sends the environmental perception information to the first vehicle. Through the above method, environmental perception information with higher authenticity and wider coverage can be obtained, so that the first vehicle can adjust its own driving status and / or driving data in time through the environmental perception information, thereby improving driving safety, and the environmental perception information does not need to be combined with the perception results of the roadside intelligent equipment, thereby reducing hardware costs.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving, and in particular to an environment perception method, device and electronic equipment. Background Art

[0002] With the development of intelligent driving technology, intelligent driving vehicles have greatly reduced road traffic accidents. The current intelligent driving technology mainly relies on vehicle sensors in terms of driving environment perception. However, due to the presence of blind spots in the sensors and the possibility of misidentification, when facing ghost incidents, bad weather, special vehicles and special-shaped vehicles, the perceived information may be inaccurate, thus affecting driving safety. In order to solve this problem, the existing technical solution combines the perception results of vehicle sensors with the perception results of roadside intelligent equipment to achieve accurate perception of the driving environment. However, due to the extremely low penetration rate and high cost of roadside intelligent equipment, the existing technical solution cannot be fully promoted. Summary of the invention

[0003] The present application provides an environmental perception method, device and electronic device, which can obtain environmental perception information with higher authenticity and wider coverage, and the environmental perception information does not need to be combined with the perception results of roadside intelligent equipment, thereby reducing hardware costs.

[0004] In a first aspect, the present application provides an environment perception method, the method comprising:

[0005] Receiving first information sensed by the first vehicle, wherein the first information at least includes first distance information respectively corresponding to the first vehicle and each second vehicle;

[0006] The first information is combined with the second information respectively sensed by each second vehicle to obtain the environment perception information corresponding to the first vehicle;

[0007] The environmental perception information is sent to the first vehicle.

[0008] Through the above method, environmental perception information with higher authenticity and wider coverage can be obtained, so that the first vehicle can timely adjust its own driving status and / or driving data through the environmental perception information, thereby improving driving safety, and the environmental perception information does not need to be combined with the perception results of roadside intelligent equipment, thereby reducing hardware costs.

[0009] In a possible design, the fusing and calculating the first information with the second information respectively sensed by each second vehicle to obtain the environment perception information corresponding to the first vehicle includes:

[0010] Pairing the second information corresponding to any one of the second vehicles with the first information to obtain respective pairing results;

[0011] respectively detecting whether the first information and the second information in each pairing result are the same;

[0012] If not, modifying the first information according to the second information, and using the modified first information as the environment perception information;

[0013] If so, the first information is used as the environmental perception information.

[0014] Through the above method, whether the first information and the second information are the same is detected, and the first information is corrected based on the detection result, so that environmental perception information with higher authenticity and wider coverage can be obtained.

[0015] In a possible design, the modifying the first information according to the second information includes:

[0016] modifying the first information according to the first obstacle information in the second information; and / or

[0017] modifying the first information according to the first distance information in the second information; and / or

[0018] The first information is corrected according to the first driving route information in the second information.

[0019] By using the above method, each piece of information in the first information is corrected respectively, so as to obtain first information with higher accuracy and authenticity.

[0020] In a possible design, the step of correcting the first information according to the first obstacle information of the second information includes:

[0021] respectively detecting whether the second obstacle information in the first information is the same as the first obstacle information;

[0022] If not, fusing the second obstacle information with the first obstacle information to obtain third obstacle information;

[0023] The second obstacle information in the first information is corrected according to the third obstacle information.

[0024] By using the above method, after the first obstacle information and the second obstacle information are merged, the second obstacle information is corrected, so that the second obstacle information with higher authenticity and wider coverage can be obtained.

[0025] In a possible design, the correcting the first information according to the first distance information in the second information includes:

[0026] respectively detecting whether the second distance information in the first information is the same as the first distance information;

[0027] If not, receiving first status information of the second vehicle corresponding to the first distance information, wherein the first status information at least includes type information and size information;

[0028] The second distance information in the first information is corrected according to the first state information and the first distance information.

[0029] By using the above method, the second distance information is corrected according to the first state information and the first distance information, so as to obtain the second distance information with higher accuracy and authenticity.

[0030] In a possible design, the modifying the first information according to the first driving route information in the second information includes:

[0031] respectively detecting whether the second driving route information in the first information is the same as the first driving route information;

[0032] If not, merging the second driving route information with the first driving route information to obtain third driving route information;

[0033] The second driving route information of the first information is corrected according to the third driving route information.

[0034] By using the above method, after the first driving route information and the second driving route information are merged, the second driving route information is corrected, so that the second driving route information with higher authenticity and wider coverage can be obtained.

[0035] In a possible design, after fusing and calculating the first information with the second information respectively sensed by each second vehicle to obtain the environment perception information corresponding to the first vehicle, the method further includes:

[0036] receiving driving data corresponding to the first vehicle;

[0037] determining whether the first vehicle has an abnormality according to the driving data;

[0038] If so, the abnormal information of the first vehicle is sent to each of the second vehicles, so that each of the second vehicles avoids the first vehicle.

[0039] Through the above method, when the first vehicle has an abnormality, the surrounding second vehicles are informed in time, so that the second vehicles can avoid the first vehicle in advance, thereby improving driving safety.

[0040] In a second aspect, the present application provides an environment perception device, the device comprising:

[0041] A first receiving module, configured to receive first information sensed by a first vehicle, wherein the first information at least includes first distance information respectively corresponding to each of the first vehicle and each second vehicle;

[0042] a fusion module, configured to fuse and calculate the first information with the second information respectively sensed by each second vehicle, so as to obtain the environment perception information corresponding to the first vehicle;

[0043] The first sending module is used to send the environmental perception information to the first vehicle.

[0044] In one possible design, the fusion module includes:

[0045] A pairing unit, used for pairing the second information corresponding to any one of the second vehicles with the first information to obtain each pairing result;

[0046] A detection unit, used to detect whether the first information and the second information in each pairing result are the same;

[0047] a correction unit, configured to correct the first information according to the second information if the first information is different from the second information, and use the corrected first information as the environment perception information;

[0048] An obtaining unit is used to use the first information as the environmental perception information if the first information is the same as the second information.

[0049] In a possible design, the correction unit is specifically used for:

[0050] modifying the first information according to the first obstacle information in the second information; and / or

[0051] modifying the first information according to the first distance information in the second information; and / or

[0052] The first information is corrected according to the first driving route information in the second information.

[0053] In a possible design, the correction unit is further used for:

[0054] respectively detecting whether the second obstacle information in the first information is the same as the first obstacle information;

[0055] If not, fusing the second obstacle information with the first obstacle information to obtain third obstacle information;

[0056] The second obstacle information in the first information is corrected according to the third obstacle information.

[0057] In a possible design, the correction unit is further used for:

[0058] respectively detecting whether the second distance information in the first information is the same as the first distance information;

[0059] If not, receiving first status information of the second vehicle corresponding to the first distance information, wherein the first status information at least includes type information and size information;

[0060] The second distance information in the first information is corrected according to the first state information and the first distance information.

[0061] In a possible design, the correction unit is further used for:

[0062] respectively detecting whether the second driving route information in the first information is the same as the first driving route information;

[0063] If not, merging the second driving route information with the first driving route information to obtain third driving route information;

[0064] The second driving route information of the first information is corrected according to the third driving route information.

[0065] In one possible design, the device further includes:

[0066] A second receiving module, used to receive the driving data corresponding to the first vehicle;

[0067] A judgment module, used for judging whether the first vehicle has an abnormality according to the driving data;

[0068] The second sending module is used for sending the abnormal information of the first vehicle to each of the second vehicles if the first vehicle has an abnormality, so that each of the second vehicles avoids the first vehicle.

[0069] In a third aspect, the present application provides an electronic device, including:

[0070] Memory, used to store computer programs;

[0071] The processor is used to implement the above-mentioned environmental perception method steps when executing the computer program stored in the memory.

[0072] In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the above-mentioned environmental perception method steps are implemented.

[0073] Based on the environmental perception method provided in the present application, environmental perception information with higher authenticity and wider coverage can be obtained, so that the first vehicle can timely adjust its own driving status and / or driving data through the environmental perception information, thereby improving driving safety, and the environmental perception information does not need to be combined with the perception results of roadside intelligent equipment, thereby reducing hardware costs.

[0074] The technical effects that can be achieved in each of the above-mentioned second to fourth aspects and each of the above-mentioned aspects refer to the technical effects that can be achieved in the above-mentioned first aspect or various possible schemes in the first aspect, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0075] Figure 1 A flow chart of an environment perception method provided for this application;

[0076] Figure 2 A schematic diagram of an environment perception method provided for this application;

[0077] Figure 3a One of the application scenario schematic diagrams of an environment perception method provided in this application;

[0078] Figure 3b The second schematic diagram of an application scenario of an environment perception method provided in this application;

[0079] Figure 3c The third schematic diagram of an application scenario of an environment perception method provided in this application;

[0080] Figure 4 A fourth schematic diagram of an application scenario of an environment perception method provided in this application;

[0081] Figure 5 A fifth schematic diagram of an application scenario of an environment perception method provided in this application;

[0082] Figure 6 The sixth schematic diagram of an application scenario of an environment perception method provided in this application;

[0083] Figure 7 A schematic diagram of the structure of an environment sensing device provided in this application;

[0084] Figure 8 A schematic diagram of the structure of an electronic device provided in this application. DETAILED DESCRIPTION

[0085] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings. The specific operating methods in the method embodiments can also be applied to device embodiments or system embodiments. It should be noted that in the description of the present application, "multiple" is understood as "at least two". "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, and A and B exist, and B exists alone. A is connected to B, which can represent: A is directly connected to B and A is connected to B through C. In addition, in the description of the present application, words such as "first" and "second" are only used to distinguish the purpose of description, and cannot be understood as indicating or implying relative importance, nor can they be understood as indicating or implying order.

[0086] The embodiments of the present application are described in detail below in conjunction with the accompanying drawings.

[0087] The current intelligent driving technology mainly relies on vehicle sensors in terms of driving environment perception. However, due to the presence of blind spots in the sensors and the possibility of misidentification, the perceived information may be inaccurate when facing ghost events, bad weather, special vehicles and special-shaped vehicles, thus affecting driving safety. In order to solve this problem, the existing technical solution combines the perception results of vehicle sensors with the perception results of roadside intelligent equipment to achieve accurate perception of the driving environment. However, due to the extremely low penetration rate and high cost of roadside intelligent equipment, the existing technical solution cannot be fully promoted.

[0088] In order to solve the above problems, an environmental perception method provided in the embodiment of the present application can obtain environmental perception information with higher authenticity and wider coverage, and the environmental perception information does not need to be combined with the perception results of roadside intelligent equipment, thereby reducing hardware costs. Among them, the method and device described in the embodiment of the present application are based on the same technical concept. Since the principles of the problems solved by the method and the device are similar, the embodiments of the device and the method can refer to each other, and the repeated parts will not be repeated.

[0089] In order to make the objectives, technical solutions and advantages of the present application more clear, the present application is further described in detail below in conjunction with the accompanying drawings.

[0090] like Figure 1 The flowchart of an environment perception method provided by the present application is shown in FIG. 1 , which specifically includes the following steps:

[0091] S11, receiving first information sensed by a first vehicle;

[0092] S12, fusing the first information with the second information respectively sensed by each second vehicle to obtain environment perception information corresponding to the first vehicle;

[0093] S13, sending the environmental perception information to the first vehicle.

[0094] In the embodiments of the present application, in order to solve the problem of perception errors of the sensors of the intelligent driving vehicle when facing ghosting events, bad weather, special vehicles and special-shaped vehicles, such as Figure 2 As shown, the information sensed by each intelligent driving vehicle is uploaded to the cloud server through the vehicle network. The cloud server integrates and calculates the received information and then sends it to each intelligent driving vehicle.

[0095] Scenario 1:

[0096] Sensors have potential safety hazards due to their blind spots, for example, Figure 3a , Figure 3b and Figure 3c ,in, Figure 3a Characterizes a ghost-heading event. Specifically, vehicle a is the current vehicle. Vehicle a is driving. Because its line of sight is blocked by vehicle b, a pedestrian suddenly runs out from the visual blind spot of vehicle a, that is, in front of the front of vehicle b, and vehicle a cannot avoid it in time, causing a traffic accident. Figure 3b The event characterizes that the front vehicle suddenly changes lanes, causing the current vehicle to collide with the front vehicle. Specifically, vehicle a is the current vehicle. Vehicle a and vehicle b1 are driving. Vehicle b2 suddenly changes lanes to get in front of vehicle b1. Vehicle b1 slows down to avoid vehicle b2, but the sight of vehicle a is blocked by vehicle b1, causing vehicle a to collide with vehicle b1. Figure 3c Characterizes unprotected left-turn events at complex intersections in urban areas. Specifically, vehicle A is the current vehicle. When the traffic volume is heavy at an urban intersection, vehicle A turns left and may collide with other vehicles at the intersection. In addition, when facing bad weather, special vehicles, and special-shaped vehicles, the sensor may misidentify.

[0097] In the embodiment of the present application, the first vehicle uploads the first information sensed by the sensor, such as a visual sensor or a radar sensor, to the cloud server through the vehicle network, wherein the first information includes the first distance information corresponding to each second vehicle, the second driving route information of the first vehicle, and the second obstacle information around the first vehicle, and the second obstacle information includes dynamic obstacle information and static obstacle information. After receiving the first information, the cloud server fuses the first information with the second information sensed by each second vehicle to obtain the environmental perception information corresponding to the first vehicle, wherein the specific method of obtaining the environmental perception information may be:

[0098] First, each second vehicle will upload the second information sensed by the sensor to the cloud server for storage. After receiving the first information, the cloud server will match the second information corresponding to any of the second vehicles with the first information to obtain each pairing result. Then, it will detect whether the first information and the second information in each pairing result are the same. If not, the first information will be corrected according to the second information, and the corrected first information will be used as the environmental perception information; if yes, the first information will be used as the environmental perception information.

[0099] For example, the second information corresponding to any vehicle in each second vehicle is paired with the first information to obtain information 1 perceived by vehicle A of the first vehicle B and information 2 perceived by the first vehicle B of the second vehicle. It is detected whether information 1 and information 2 are the same. If not, information 2 is corrected according to information 1, and the corrected information 2 is used as environmental perception information; if so, information 2 is used as environmental perception information.

[0100] In the above process, when the first information and the second information in each pairing result are different, the first information can be corrected according to the first obstacle information in the second information. Specifically, it is respectively detected whether the second obstacle information in the first information is the same as the first obstacle information. If not, the second obstacle information is merged with the first obstacle information to obtain the third obstacle information, and the second obstacle information in the first information is corrected according to the third obstacle information. And / or

[0101] The first information is corrected according to the first distance information in the second information. Specifically, the second distance information in the first information is respectively detected to be the same as the first distance information. If not, the first state information of the second vehicle corresponding to the first distance information is received, wherein the first state information at least includes type information and size information, and the second state information of the first vehicle. Then, whether the second distance information is correct is determined according to the first state information, and whether the first distance information is correct is determined according to the second state information. When the first distance information is correct and the second distance information is incorrect, the second distance information is corrected according to the first distance information.

[0102] For example, Figure 4 As shown, vehicle C is the first vehicle, vehicle D is the second vehicle, L1 represents the first distance information between vehicle D and vehicle C, and L2 represents the second distance information between vehicle C and vehicle D. Through detection, it is found that L1 and L2 are different, so the cloud server receives the first state information of vehicle D, that is, vehicle D is a small truck, and the size information is 5 meters long × 1.9 meters wide × 2.5 meters high, and determines that L2 perceived by vehicle C is incorrect based on the first state information. At the same time, the cloud server receives the second state information of vehicle C, that is, vehicle C is a sedan, and the size information is 3.5 meters long × 1.6 meters wide × 1.4 meters high, and determines that L1 perceived by vehicle D is correct based on the second state information, and then corrects L2 based on L1.

[0103] When the first distance information is incorrect and the second distance information is correct, the second distance information is not corrected.

[0104] For example, Figure 5 As shown, vehicle E is the first vehicle, vehicle F is the second vehicle, L1 represents the first distance information between vehicle F and vehicle E, and L2 represents the second distance information between vehicle E and vehicle F. Through detection, it is found that L1 and L2 are different, and the cloud server receives the second state information of vehicle E, that is, vehicle E is a sedan, and the size information is 3.5 meters long × 1.6 meters wide × 1.4 meters high, and determines that L1 perceived by vehicle F is incorrect based on the second state information. At the same time, the cloud server receives the first state information of vehicle F, that is, vehicle F is a small truck, and the size information is 5 meters long × 1.9 meters wide × 2.5 meters high, and determines that L2 perceived by vehicle E is correct based on the first state information, and L2 is not corrected. And / or

[0105] The first information is modified according to the first driving route information in the second information. Specifically, whether the second driving route information in the first information is the same as the first driving route information is detected, and if not, the second driving route information is merged with the first driving route information to obtain the third driving route information, and the second driving route information of the first information is modified according to the third driving route information.

[0106] After obtaining the environmental perception information, the cloud server sends the environmental perception information to the first vehicle. The first vehicle can adjust the driving status and / or driving data according to the environmental perception information, for example, slow down and brake in time when encountering a ghosting event.

[0107] Through the above method, environmental perception information with higher authenticity and wider coverage can be obtained, so that the first vehicle can timely adjust its own driving status and / or driving data through the environmental perception information, thereby improving driving safety, and the environmental perception information does not need to be combined with the perception results of roadside intelligent equipment, thereby reducing hardware costs.

[0108] Scenario 2:

[0109] like Figure 6 As shown, the first vehicle stops due to a sudden failure, and each second vehicle collides with the current vehicle because it cannot be informed in time.

[0110] In the embodiment of the present application, the first vehicle will upload the current driving data to the cloud server through the vehicle network, wherein the driving data at least includes driving speed, driving track, and engine speed. After receiving the driving data corresponding to the first vehicle, the cloud server determines whether the first vehicle is abnormal based on the driving data. If so, the abnormal information of the first vehicle is sent to each second vehicle so that each second vehicle can avoid the first vehicle in advance.

[0111] Through the above method, when the first vehicle has an abnormality, the surrounding second vehicles are informed in time, so that the second vehicles can avoid the first vehicle in advance, thereby improving driving safety.

[0112] Based on the same inventive concept, an environment sensing device is also provided in the embodiment of the present application, such as Figure 7 FIG. 1 is a schematic diagram of the structure of an environment sensing device in the present application, and the device includes:

[0113] A first receiving module 71 is used to receive first information sensed by a first vehicle, wherein the first information at least includes first distance information respectively corresponding to each of the first vehicle and each second vehicle;

[0114] A fusion module 72, configured to fuse the first information with the second information respectively sensed by each second vehicle to obtain environment perception information corresponding to the first vehicle;

[0115] The first sending module 73 is used to send the environment perception information to the first vehicle.

[0116] In one possible design, the fusion module 72 includes:

[0117] A pairing unit, used for pairing the second information corresponding to any one of the second vehicles with the first information to obtain each pairing result;

[0118] A detection unit, used to detect whether the first information and the second information in each pairing result are the same;

[0119] a correction unit, configured to correct the first information according to the second information if the first information is different from the second information, and use the corrected first information as the environment perception information;

[0120] An obtaining unit is used to use the first information as the environmental perception information if the first information is the same as the second information.

[0121] In a possible design, the correction unit is specifically used for:

[0122] modifying the first information according to the first obstacle information in the second information; and / or

[0123] modifying the first information according to the first distance information in the second information; and / or

[0124] The first information is corrected according to the first driving route information in the second information.

[0125] In a possible design, the correction unit is further used for:

[0126] respectively detecting whether the second obstacle information in the first information is the same as the first obstacle information;

[0127] If not, fusing the second obstacle information with the first obstacle information to obtain third obstacle information;

[0128] The second obstacle information in the first information is corrected according to the third obstacle information.

[0129] In a possible design, the correction unit is further used for:

[0130] respectively detecting whether the second distance information in the first information is the same as the first distance information;

[0131] If not, receiving first status information of the second vehicle corresponding to the first distance information, wherein the first status information at least includes type information and size information;

[0132] The second distance information in the first information is corrected according to the first state information and the first distance information.

[0133] In a possible design, the correction unit is further used for:

[0134] respectively detecting whether the second driving route information in the first information is the same as the first driving route information;

[0135] If not, merging the second driving route information with the first driving route information to obtain third driving route information;

[0136] The second driving route information of the first information is corrected according to the third driving route information.

[0137] In one possible design, the device further includes:

[0138] A second receiving module, used to receive the driving data corresponding to the first vehicle;

[0139] A judgment module, used for judging whether the first vehicle has an abnormality according to the driving data;

[0140] The second sending module is used for sending the abnormal information of the first vehicle to each of the second vehicles if the first vehicle has an abnormality, so that each of the second vehicles avoids the first vehicle.

[0141] Based on the above-mentioned environmental perception device, environmental perception information with higher authenticity and wider coverage can be obtained, so that the first vehicle can timely adjust its own driving status and / or driving data through the environmental perception information, thereby improving driving safety, and the environmental perception information does not need to be combined with the perception results of roadside intelligent equipment, thereby reducing hardware costs.

[0142] Based on the same inventive concept, an electronic device is also provided in the embodiment of the present application, and the electronic device can realize the functions of the aforementioned environment sensing device, referring to Figure 8 , the electronic device comprises:

[0143] At least one processor 81, and a memory 82 connected to the at least one processor 81. The specific connection medium between the processor 81 and the memory 82 is not limited in the embodiment of the present application. Figure 8 In the example, the processor 81 and the memory 82 are connected via a bus 80. The bus 80 is Figure 8 The connection between other components is shown by bold lines, and is not intended to be limiting. The bus 80 can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 8 Only one thick line is used in the diagram, but it does not mean that there is only one bus or one type of bus. Alternatively, the processor 81 may also be referred to as a controller, and there is no limitation on the name.

[0144] In the embodiment of the present application, the memory 82 stores instructions that can be executed by at least one processor 81. The at least one processor 81 can execute the environment perception method discussed above by executing the instructions stored in the memory 82. The processor 81 can implement Figure 7 The functions of each module in the device shown.

[0145] Among them, the processor 81 is the control center of the device, and can use various interfaces and lines to connect the various parts of the entire control device. By running or executing instructions stored in the memory 82 and calling data stored in the memory 82, the various functions of the device and processing data, the device can be monitored as a whole.

[0146] In one possible design, the processor 81 may include one or more processing units, and the processor 81 may integrate an application processor and a modem processor, wherein the application processor mainly processes an operating system, a user interface, and application programs, and the modem processor mainly processes wireless communications. It is understandable that the modem processor may not be integrated into the processor 81. In some embodiments, the processor 81 and the memory 82 may be implemented on the same chip, and in some embodiments, they may also be implemented separately on separate chips.

[0147] The processor 81 may be a general-purpose processor, such as a central processing unit (CPU), a digital signal processor, an application-specific integrated circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component, and may implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of the present application. A general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the environmental perception method disclosed in the embodiments of the present application may be directly embodied as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.

[0148] The memory 82 is a non-volatile computer-readable storage medium that can be used to store non-volatile software programs, non-volatile computer executable programs and modules. The memory 82 may include at least one type of storage medium, such as a flash memory, a hard disk, a multimedia card, a card-type memory, a random access memory (Random Access Memory, RAM), a static random access memory (Static Random Access Memory, SRAM), a programmable read-only memory (Programmable Read Only Memory, PROM), a read-only memory (Read Only Memory, ROM), an electrically erasable programmable read-only memory (Electrically Erasable Programmable Read-Only Memory, EEPROM), a magnetic memory, a disk, an optical disk, etc. The memory 82 is any other medium that can be used to carry or store a desired program code in the form of an instruction or data structure and can be accessed by a computer, but is not limited thereto. The memory 82 in the embodiment of the present application can also be a circuit or any other device that can realize a storage function, for storing program instructions and / or data.

[0149] By designing and programming the processor 81, the code corresponding to the environment perception method introduced in the above embodiment can be fixed into the chip, so that the chip can execute the steps of the environment perception method of the embodiment shown in the figure when running. How to design and program the processor 81 is a technology well known to those skilled in the art and will not be described here.

[0150] Based on the same inventive concept, an embodiment of the present application further provides a storage medium, which stores computer instructions. When the computer instructions are executed on a computer, the computer executes the environment perception method discussed above.

[0151] In some possible implementations, various aspects of the environmental perception method provided by the present application may also be implemented in the form of a program product, which includes a program code. When the program product is run on an apparatus, the program code is used to enable the control device to execute the steps of the environmental perception method according to various exemplary implementations of the present application described above in this specification.

[0152] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0153] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0154] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0155] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0156] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A method for environmental perception, characterized in that: The method comprises: Receiving first information sensed by the first vehicle, wherein the first information at least includes first distance information respectively corresponding to the first vehicle and each second vehicle; Pairing the second information sensed by any of the second vehicles with the first information to obtain each pairing result, respectively detecting whether the first information and the second information in each pairing result are the same; if not, correcting the first information according to the second information, and using the corrected first information as the environmental perception information; if so, using the first information as the environmental perception information; wherein the environmental perception information at least includes the distance information, the driving route information, and the obstacle information corresponding to each of the second vehicles; The environmental perception information is sent to the first vehicle.

2. The method according to claim 1, characterized in that The modifying the first information according to the second information includes: modifying the first information according to the first obstacle information in the second information; and / or modifying the first information according to the first distance information in the second information; and / or The first information is corrected according to the first driving route information in the second information.

3. The method according to claim 2, characterized in that The step of correcting the first information according to the first obstacle information of the second information includes: respectively detecting whether the second obstacle information in the first information is the same as the first obstacle information; If not, fusing the second obstacle information with the first obstacle information to obtain third obstacle information; The second obstacle information in the first information is corrected according to the third obstacle information.

4. The method according to claim 2, characterized in that The correcting the first information according to the first distance information in the second information includes: respectively detecting whether the second distance information in the first information is the same as the first distance information; If not, receiving first status information of the second vehicle corresponding to the first distance information, wherein the first status information at least includes type information and size information; The second distance information in the first information is corrected according to the first state information and the first distance information.

5. The method according to claim 2, characterized in that The step of modifying the first information according to the first driving route information in the second information includes: respectively detecting whether the second driving route information in the first information is the same as the first driving route information; If not, merging the second driving route information with the first driving route information to obtain third driving route information; The second driving route information of the first information is corrected according to the third driving route information.

6. The method according to claim 1, characterized in that After fusing and calculating the first information with the second information respectively sensed by each second vehicle to obtain the environment perception information corresponding to the first vehicle, the method further includes: receiving driving data corresponding to the first vehicle; determining whether the first vehicle has an abnormality according to the driving data; If so, the abnormal information of the first vehicle is sent to each of the second vehicles, so that each of the second vehicles avoids the first vehicle.

7. An environment sensing device, characterized in that: The device comprises: A first receiving module, configured to receive first information sensed by a first vehicle, wherein the first information at least includes first distance information respectively corresponding to each of the first vehicle and each second vehicle; a fusion module, for pairing the second information sensed by any of the second vehicles with the first information to obtain each pairing result; respectively detecting whether the first information and the second information in each pairing result are identical; if the first information and the second information are not identical, correcting the first information according to the second information and using the corrected first information as the environment perception information; if the first information and the second information are identical, using the first information as the environment perception information; The first sending module is used to send the environmental perception information to the first vehicle.

8. The device according to claim 7, characterized in that The fusion module includes a correction unit, and the correction unit is specifically used for: modifying the first information according to the first obstacle information in the second information; and / or Correcting the first information according to the first distance information in the second information; and / or The first information is corrected according to the first driving route information in the second information.

9. The device according to claim 8, characterized in that The correction unit is also used for: respectively detecting whether the second obstacle information in the first information is the same as the first obstacle information; If not, fusing the second obstacle information with the first obstacle information to obtain third obstacle information; The second obstacle information in the first information is corrected according to the third obstacle information.

10. The device according to claim 8, characterized in that The correction unit is also used for: respectively detecting whether the second distance information in the first information is the same as the first distance information; If not, receiving first status information of the second vehicle corresponding to the first distance information, wherein the first status information at least includes type information and size information; The second distance information in the first information is corrected according to the first state information and the first distance information.

11. The device according to claim 8, characterized in that The correction unit is also used for: respectively detecting whether the second driving route information in the first information is the same as the first driving route information; If not, merging the second driving route information with the first driving route information to obtain third driving route information; The second driving route information of the first information is corrected according to the third driving route information.

12. The device according to claim 7, characterized in that The device also includes: A second receiving module, used to receive the driving data corresponding to the first vehicle; A judgment module, used for judging whether the first vehicle has an abnormality according to the driving data; The second sending module is used for sending the abnormal information of the first vehicle to each of the second vehicles if the first vehicle has an abnormality, so that each of the second vehicles avoids the first vehicle.

13. An electronic device, characterized in that: include: Memory, used to store computer programs; A processor, configured to implement the method steps of any one of claims 1 to 6 when executing the computer program stored in the memory.

14. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method steps of any one of claims 1 to 6 are implemented.

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