Intersection target driving direction determination method and device, terminal and storage medium

Abstract

The application provides a target driving direction determination method and device at an intersection, a terminal and a storage medium. The method comprises the following steps: acquiring radar data of a fusion target on a first road through at least one intersection radar corresponding to a target intersection, and taking the position coordinates of the fusion target when the fusion target is about to pass through the target intersection as reference position coordinates; calculating a straight-line model of the fusion target according to the reference position coordinates and the slope of the first road; predicting the y coordinate corresponding to the fusion target at the current x coordinate according to the straight-line model; and determining the driving direction of the fusion target according to the predicted value and the actual value of the y coordinate of the fusion target at the current x coordinate. The application can improve the judgment accuracy of the driving direction of the target passing through the intersection by creating a straight-line model of the fusion target in real time.

Description

Technical Field

[0001] This invention relates to the field of radar technology, and in particular to a method, device, terminal, and storage medium for determining the direction of travel of a target at an intersection. Background Technology

[0002] The holographic intersection integrates various sensing devices such as intersection radar and electronic police / checkpoint cameras to conduct real-time sensing and monitoring of vehicle and pedestrian flow information at the intersection.

[0003] Currently, radar mainly determines a vehicle's direction of travel at an intersection by monitoring its lateral and longitudinal speeds. However, intersections in reality are diverse, and the accuracy of its direction-of-travel judgment is greatly reduced when facing unconventional intersections such as diagonal crossings. Summary of the Invention

[0004] In view of this, the present invention provides a method, device, terminal and storage medium for determining the target driving direction at an intersection, which can solve the problem of low accuracy in determining the target driving direction at intersections in the prior art.

[0005] In a first aspect, embodiments of the present invention provide a method for determining a target driving direction at an intersection, including:

[0006] The radar data of the fused target on the first road is acquired by at least one intersection radar corresponding to the target intersection. The radar data includes position coordinates. The position coordinates of the fused target when it is about to pass through the target intersection are used as reference position coordinates. The first road is any road leading to the target intersection. The position coordinates include x-coordinates and y-coordinates.

[0007] Based on the reference position coordinates and the slope of the first road, a straight-line model of the fused target is calculated; the straight-line model is used to represent the relationship between the x-coordinate and y-coordinate of the fused target when traveling in a straight line;

[0008] Predict the y coordinate of the fusion target in the current x coordinate based on the linear model;

[0009] The driving direction of the fused target is determined based on the predicted and actual values ​​of the y coordinate of the fused target under the current x coordinate.

[0010] Secondly, embodiments of the present invention provide a target driving direction determination device at an intersection, comprising:

[0011] The position coordinate acquisition module is used to acquire radar data of a fused target on a first road through at least one intersection radar corresponding to the target intersection. The radar data includes position coordinates. The position coordinates of the fused target when it is about to pass through the target intersection are used as reference position coordinates. The first road is any road leading to the target intersection. The position coordinates include x-coordinates and y-coordinates.

[0012] The straight-line model calculation module is used to calculate the straight-line model of the fused target based on the reference position coordinates and the slope of the first road; the straight-line model is used to represent the relationship between the x-coordinate and y-coordinate of the fused target when it is traveling in a straight line;

[0013] The coordinate prediction module is used to predict the y coordinate of the fusion target in the current x coordinate based on the straight linear model.

[0014] The driving direction determination module is used to determine the driving direction of the fused target based on the predicted and actual values ​​of the y coordinate of the fused target under the current x coordinate.

[0015] Thirdly, embodiments of the present invention provide a terminal, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the method as described in any possible implementation of the first aspect above.

[0016] Fourthly, embodiments of the present invention provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the method as described in any possible implementation of the first aspect above.

[0017] The beneficial effects of the embodiments of the present invention compared with the prior art are as follows:

[0018] This embodiment of the invention first acquires radar data of a fused target on a first road using at least one intersection radar corresponding to the target intersection, and uses the position coordinates of the fused target as it is about to pass through the target intersection as reference position coordinates. Then, based on the reference position coordinates and the slope of the first road, a straight-line model of the fused target is calculated. The straight-line model is then used to predict the y-coordinate of the fused target at the current x-coordinate. Finally, based on the predicted and actual y-coordinate values ​​of the fused target at the current x-coordinate, the driving direction of the fused target is determined. This embodiment can improve the accuracy of determining the driving direction of a fused target passing through an intersection by creating a straight-line model of the fused target in real time. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is an application scenario diagram of the target driving direction determination method at intersections provided in the embodiments of the present invention;

[0021] Figure 2 This is a flowchart illustrating the implementation of the target driving direction determination method at an intersection provided in an embodiment of the present invention.

[0022] Figure 3 This is a schematic diagram of the target driving direction determination device at an intersection provided in an embodiment of the present invention;

[0023] Figure 4 This is a schematic diagram of the terminal provided in an embodiment of the present invention. Detailed Implementation

[0024] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of the invention. However, those skilled in the art will understand that the invention can be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods are omitted so as not to obscure the description of the invention with unnecessary detail.

[0025] To make the objectives, technical solutions, and advantages of the present invention clearer, specific embodiments will be described below in conjunction with the accompanying drawings.

[0026] Figure 1 This diagram illustrates an application scenario of the target driving direction determination method at an intersection provided in an embodiment of the present invention. Figure 1 Taking a central intersection as an example, Figure 1 The black dots (R1 to R4) indicate intersection radars, and the intersection includes four intersection radars.

[0027] See Figure 2 The document illustrates a flowchart of the implementation of the target driving direction determination method at an intersection provided by an embodiment of the present invention, which is described in detail below:

[0028] S101: Obtain radar data of the fused target on the first road through at least one intersection radar corresponding to the target intersection, the radar data including position coordinates; use the position coordinates of the fused target when it is about to pass through the target intersection as reference position coordinates; the first road is any road leading to the target intersection; the position coordinates include x coordinates and y coordinates.

[0029] The execution subject of this embodiment can be a terminal or a server. The following explanation uses a terminal as an example to illustrate the method provided in this embodiment.

[0030] Specifically, existing technologies typically use a vehicle's position coordinates to determine its lateral and longitudinal velocities, and then determine the vehicle's direction of travel at an intersection based on these lateral or longitudinal velocities. When a vehicle is traveling straight along the longitudinal road, if its lateral velocity exceeds a certain value, it indicates that the vehicle is turning; similarly, if its longitudinal velocity exceeds a certain value, it indicates that the vehicle is turning. However, when the intersection is angled, the vehicle's lateral / longitudinal velocity ratio increases due to the angle of the intersection. In this case, using the vehicle's lateral and longitudinal velocities to calculate whether it is turning becomes significantly less accurate.

[0031] To address the aforementioned issues, this embodiment provides a method for determining the target driving direction at an intersection.

[0032] Specifically, the terminal first acquires the radar data of the target detected by radars at each intersection of the target intersection, and then fuses the radar data of the same target detected by radars at at least one intersection to obtain the radar data of the fused target. In particular, when the fused target is detected by only one intersection radar, the radar data detected by that intersection radar is directly used as the radar data of the fused target. If the distance between the fused target and the center origin of the target intersection is less than or equal to a first distance, it indicates that the fused target is about to pass through the target intersection, and the driving direction of the fused target can be determined based on steps S101 to S104 provided in this embodiment; otherwise, the driving direction of the fused target is determined to be straight.

[0033] In one possible implementation, the position coordinates are position coordinates in the intersection coordinate system; prior to S103, the method provided in this embodiment further includes:

[0034] The intersection coordinate system is established by using the line connecting the intersection radar with the largest first metric value and the intersection radar with the smallest first metric value among the multiple intersection radars of the target intersection as the vertical axis and the perpendicular bisector of the line as the horizontal axis. The first metric value is either longitude or latitude.

[0035] Specifically, such as Figure 1As shown, latitude is used as the first metric. Connecting the radar R1 with the highest latitude and the radar R3 with the lowest latitude, we obtain the vertical axis of the coordinate system. The perpendicular bisector of the line segment between R1 and R3 is used as the horizontal axis to establish the intersection coordinate system xoy.

[0036] After establishing the intersection coordinate system, the radar data detected by each intersection radar is transformed from the radar coordinate system to the intersection coordinate system, and then fused to obtain the radar data of the fused target.

[0037] In one possible implementation, prior to the specific implementation process of S102, the method further includes:

[0038] The slope of the first road is calculated based on the position coordinates of at least one fusion target within the effective section of the first road.

[0039] In one possible implementation, the location coordinates are location coordinates in an intersection coordinate system; before calculating the slope of the first road based on the location coordinates of at least one fused target within the effective section of the first road, the method further includes:

[0040] Obtain the distance between the intersection radar of the first road and the origin of the intersection coordinate system;

[0041] The section of the first road that is at a distance (d, d+m) from the origin of the intersection coordinate system is taken as the effective section of the first road; where d represents the distance between the intersection radar of the first road and the origin of the intersection coordinate system, and m represents a first fixed value.

[0042] In this embodiment, as Figure 1 As shown, taking road A as the first road, the distance d between the intersection radar R3 on the first road A and the origin of the intersection coordinate system is determined in the direction of the first road. The boundary line on the first road at a distance d from the origin is used as one boundary line of the effective section, and the boundary line at a distance d+m from the origin is used as another boundary line of the effective section. The effective section 10 of the first road is determined. This effective section 10 is close to the target intersection and must also ensure that the effective section is a straight line segment. Therefore, the length of this effective section should not be too long.

[0043] The value of d can be determined based on the distance between the center of the intersection and the intersection radar in the actual scenario. For example, d can be 50 meters, and m can be any value in the range of 50 meters to 100 meters.

[0044] In this embodiment, the terminal can take at least two position coordinates of the fusion target when it passes through the effective section and fit a linear formula to obtain the slope of the first road. Then, the slopes of the first roads corresponding to multiple fusion targets are averaged to obtain the slope of the first road.

[0045] In one possible implementation, calculating the slope of the first road based on the position coordinates of at least one fusion target within the effective segment of the first road includes:

[0046] Step 1: Initialize the number of iterations;

[0047] Step 2: Obtain at least two location coordinates of the current fusion target within the effective segment;

[0048] Step 3: Based on at least two position coordinates of the current fusion target within the effective segment, calculate the slope of a single track at the current iteration number;

[0049] Step 4: Input the current iteration number and the slope of the single track under the current iteration number into the slope calculation formula, calculate the slope of the first road corresponding to the current iteration number, increment the current iteration number by 1, return to step 2 to continue execution, until the current iteration number reaches the maximum iteration number;

[0050] The slope calculation formula is as follows:

[0051]

[0052] Where, k_x i Let k_x' represent the slope of the first road in the i-th iteration. i Let k_x represent the slope of a single track in the i-th iteration. i-1 Let w represent the slope of the first path in the (i-1)th iteration, and w represent the weight coefficient, where 0 < w < w. <w<1。

[0053] Specifically, if the current iteration count is less than the maximum iteration count, the slope of the first road is updated using the above steps each time the target driving direction of the fusion target is calculated. The straight linear model of the fusion target is then calculated based on the updated slope of the first road, thereby improving the calculation accuracy of the straight linear model. If the current iteration count reaches the maximum iteration count, the accuracy of the slope of the first road is already high. When determining the driving direction of the fusion target in subsequent iterations, the slope of the first road corresponding to the maximum iteration count is directly used to calculate the straight linear model of the fusion target, thereby reducing the computational load of the algorithm.

[0054] In this embodiment, the specific implementation process of steps 2 to 3 above may include:

[0055] Obtain the first position coordinates of the current fusion target when it enters the effective segment and the first position coordinates when it leaves the effective segment; based on the first position coordinates of the current fusion target when it enters the effective segment and the first position coordinates when it leaves the effective segment, calculate the slope of a single track at the current iteration number to improve the accuracy of the slope of a single track.

[0056] Using the above method to calculate the slope of the first road can improve the accuracy of the slope of the first road.

[0057] S102: Calculate the straight-line model of the fused target based on the reference position coordinates and the slope of the first road; the straight-line model is used to represent the relationship between the x-coordinate and y-coordinate of the fused target when it is traveling in a straight line.

[0058] In this embodiment, the position coordinates of the fused target at a second distance from the origin of the intersection coordinate system on the first road are taken as reference position coordinates. Based on the reference position coordinates and the slope of the first road, a straight linear model of the fused target is calculated. Both the first and second distances can be from 0 to d. Preferably, the second distance can be d, meaning the position coordinates of the fused target when it leaves the effective section are taken as the reference position coordinates.

[0059] In one possible implementation, the reference position coordinates include a reference x-coordinate and a reference y-coordinate;

[0060] The linear model is: y_predict=k_x*x_real_time+y'-k_x*x';

[0061] Where y' represents the reference y coordinate, x' represents the reference x coordinate; k_x represents the slope of the first road, x_real_time represents the current x coordinate of the fused target, and y_predict represents the predicted y coordinate of the fused target under the current x coordinate.

[0062] This embodiment can predict the position coordinates of the fused target when it is traveling in a straight line by calculating the straight linear model corresponding to the fused target. If the predicted position coordinates deviate significantly from the actual position coordinates, it indicates that the fused target is not traveling in a straight line at the intersection. Therefore, the travel direction of the fused target at the intersection can be determined based on the deviation between the predicted and actual position coordinates of the fused target.

[0063] S103: Predict the y coordinate of the fusion target in the current x coordinate according to the linear model.

[0064] S104: Determine the driving direction of the fused target based on the predicted and actual values ​​of the y coordinate of the fused target under the current x coordinate.

[0065] In one possible implementation, the radar data further includes Doppler values; the specific implementation process of S104 includes:

[0066] Calculate the absolute value of the difference between the predicted value and the true value of the y coordinate of the fused target under the current x coordinate.

[0067] If the absolute value of the difference is less than or equal to the first preset value, then the driving direction of the fused target is determined to be straight.

[0068] If the absolute value of the difference is greater than the first preset value, and the actual value of the position coordinate of the fused target in the current x coordinate is to the right of the predicted value, then the driving direction of the fused target is determined to be a right turn;

[0069] If the absolute value of the difference is greater than the first preset value, and the actual value of the position coordinate of the fused target in the current x coordinate is to the left of the predicted value, then the driving direction of the fused target is determined to be a left turn;

[0070] If the difference between the Doppler value of the fused target at the current x-coordinate and the Doppler value at the reference position coordinate is less than a second preset value, and the Doppler value of the fused target at the current x-coordinate and the Doppler value at the reference position coordinate have opposite signs, then the driving direction of the fused target is determined to be a U-turn.

[0071] As can be seen from the above embodiments, this embodiment determines the straight-line prediction model of the fusion target passing through the intersection by calculating the slope of the road corresponding to the intersection. Based on the straight-line prediction model, it determines the difference between the predicted and actual values ​​of the position coordinates of the fusion target when passing through the intersection, and determines the driving direction of the target at the intersection based on the difference. This can avoid the problem of inaccurate driving direction judgment caused by irregular intersections such as oblique intersections when determining the driving direction by the lateral and longitudinal velocities of the fusion target in the prior art, thus improving the accuracy of the calculation of the target driving direction. Moreover, the method provided in this embodiment can be applied to a wider range of intersection types.

[0072] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0073] The following are device embodiments of the present invention. For details not described in detail, please refer to the corresponding method embodiments described above.

[0074] Figure 3 A schematic diagram of the target driving direction determination device at an intersection provided in an embodiment of the present invention is shown. For ease of explanation, only the parts related to the embodiment of the present invention are shown, and are described in detail below:

[0075] like Figure 3 As shown, the target driving direction determination device 100 at the intersection includes:

[0076] The position coordinate acquisition module 110 is used to acquire radar data of a fused target on a first road through at least one intersection radar corresponding to the target intersection, the radar data including position coordinates; the position coordinates of the fused target when it is about to pass through the target intersection are used as reference position coordinates; the first road is any road leading to the target intersection; the position coordinates include x-coordinates and y-coordinates;

[0077] The straight-line model calculation module 120 is used to calculate the straight-line model of the fused target based on the reference position coordinates and the slope of the first road; the straight-line model is used to represent the relationship between the x-coordinate and y-coordinate of the fused target when it is traveling in a straight line;

[0078] The coordinate prediction module 130 is used to predict the y coordinate of the fusion target in the current x coordinate according to the straight linear model;

[0079] The driving direction determination module 140 is used to determine the driving direction of the fused target based on the predicted value and the actual value of the y coordinate of the fused target under the current x coordinate.

[0080] In one possible implementation, the reference position coordinates include a reference x-coordinate and a reference y-coordinate;

[0081] The linear model is: y_predict=k_x*x_real_time+y'-k_x*x';

[0082] Where y' represents the reference y coordinate, x' represents the reference x coordinate; k_x represents the slope of the first road, x_real_time represents the current x coordinate of the fused target, and y_predict represents the predicted y coordinate of the fused target under the current x coordinate.

[0083] In one possible implementation, the radar data further includes Doppler values; the driving direction determination module 140 includes:

[0084] Calculate the absolute value of the difference between the predicted value and the true value of the y coordinate of the fused target under the current x coordinate.

[0085] If the absolute value of the difference is less than or equal to the first preset value, then the driving direction of the fused target is determined to be straight.

[0086] If the absolute value of the difference is greater than the first preset value, and the actual value of the position coordinate of the fused target in the current x coordinate is to the right of the predicted value, then the driving direction of the fused target is determined to be a right turn;

[0087] If the absolute value of the difference is greater than the first preset value, and the actual value of the position coordinate of the fused target in the current x coordinate is to the left of the predicted value, then the driving direction of the fused target is determined to be a left turn;

[0088] If the difference between the Doppler value of the fused target at the current x-coordinate and the Doppler value at the reference position coordinate is less than a second preset value, and the Doppler value of the fused target at the current x-coordinate and the Doppler value at the reference position coordinate have opposite signs, then the driving direction of the fused target is determined to be a U-turn.

[0089] In one possible implementation, the apparatus provided in this embodiment further includes:

[0090] The road slope calculation module is used to calculate the slope of the first road based on the position coordinates of at least one fused target within the effective section of the first road.

[0091] In one possible implementation, the road slope calculation module is specifically used for:

[0092] Step 1: Initialize the number of iterations;

[0093] Step 2: Obtain at least two location coordinates of the current fusion target within the effective segment;

[0094] Step 3: Based on at least two position coordinates of the current fusion target within the effective segment, calculate the slope of a single track at the current iteration number;

[0095] Step 4: Input the current iteration number and the slope of the single track under the current iteration number into the slope calculation formula, calculate the slope of the first road corresponding to the current iteration number, increment the current iteration number by 1, return to step 2 to continue execution, until the current iteration number reaches the maximum iteration number;

[0096] The slope calculation formula is as follows:

[0097]

[0098] Where, k_x i Let k_x' represent the slope of the first road in the i-th iteration. i Let k_x represent the slope of a single track in the i-th iteration. i-1 Let w represent the slope of the first path in the (i-1)th iteration, and w represent the weight coefficient, where 0 < w < w. <w<1。

[0099] In one possible implementation, the position coordinates are position coordinates in an intersection coordinate system; the device provided in this embodiment further includes an effective section determination module, used for:

[0100] Obtain the distance between the intersection radar of the first road and the origin of the intersection coordinate system;

[0101] The segment of the first road that is at a distance (d, d+m) from the origin of the intersection coordinate system is taken as the effective segment of the first road; where d represents the distance between the intersection radar of the first road and the origin of the intersection coordinate system, and m represents a first fixed value.

[0102] In one possible implementation, the position coordinates are position coordinates in an intersection coordinate system; the device provided in this embodiment further includes an intersection coordinate system establishment module, used for:

[0103] The intersection coordinate system is established by using the line connecting the intersection radar with the largest first metric value and the intersection radar with the smallest first metric value among the multiple intersection radars of the target intersection as the vertical axis and the perpendicular bisector of the line as the horizontal axis. The first metric value is either longitude or latitude.

[0104] The target driving direction determination device at the intersection provided in this embodiment can be used to execute the above-described target driving direction determination method embodiment at the intersection. Its implementation principle and technical effect are similar, and will not be described again here.

[0105] Figure 4 This is a schematic diagram of a terminal provided in an embodiment of the present invention. Figure 4 As shown, the terminal 4 in this embodiment includes: a processor 40, a memory 41, and a computer program 42 stored in the memory 41 and executable on the processor 40. When the processor 40 executes the computer program 42, it implements the steps in the above embodiments of the target driving direction determination method at various intersections, for example... Figure 2 Steps 101 to 104 are shown. Alternatively, when the processor 40 executes the computer program 42, it implements the functions of each module / unit in the above-described device embodiments, for example... Figure 3 The functions of modules 110 to 140 are shown.

[0106] For example, the computer program 42 may be divided into one or more modules / units, which are stored in the memory 41 and executed by the processor 40 to complete the present invention. The one or more modules / units may be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of the computer program 42 in the terminal 4.

[0107] The terminal 4 can be a computing device such as a desktop computer, laptop, handheld computer, or cloud server. The terminal 4 may include, but is not limited to, a processor 40 and a memory 41. Those skilled in the art will understand that... Figure 4This is merely an example of terminal 4 and does not constitute a limitation on terminal 4. It may include more or fewer components than shown, or combine certain components, or different components. For example, the terminal may also include input / output devices, network access devices, buses, etc.

[0108] The processor 40 may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0109] The memory 41 can be an internal storage unit of the terminal 4, such as a hard disk or memory of the terminal 4. The memory 41 can also be an external storage device of the terminal 4, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card equipped on the terminal 4. Furthermore, the memory 41 can include both internal storage units and external storage devices of the terminal 4. The memory 41 is used to store the computer program and other programs and data required by the terminal. The memory 41 can also be used to temporarily store data that has been output or will be output.

[0110] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0111] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0112] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0113] In the embodiments provided by this invention, it should be understood that the disclosed devices / terminals and methods can be implemented in other ways. For example, the device / terminal embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0114] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0115] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0116] If the integrated module / unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the above embodiments of the present invention can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the above embodiments of the target driving direction determination method at each intersection. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc. It should be noted that the content contained in the computer-readable medium may be appropriately added to or subtracted from the content as required by the legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium may not include electrical carrier signals and telecommunication signals.

[0117] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A method for determining the target driving direction at an intersection, characterized in that, include: The radar data of the fused target on the first road is acquired by at least one intersection radar corresponding to the target intersection. The radar data includes position coordinates. The position coordinates of the fused target when it is about to pass through the target intersection are used as reference position coordinates. The first road is any road leading to the target intersection. The position coordinates include x-coordinates and y-coordinates. Based on the reference position coordinates and the slope of the first road, a straight-line model of the fused target is calculated; the straight-line model is used to represent the relationship between the x-coordinate and y-coordinate of the fused target when traveling in a straight line; Predict the y coordinate of the fusion target in the current x coordinate based on the linear model; The driving direction of the fused target is determined based on the predicted and actual values ​​of the y coordinate of the fused target under the current x coordinate. The location coordinates are the location coordinates in the intersection coordinate system; Before calculating the straight-line model of the fused target based on the reference location coordinates and the slope of the first road, the method further includes: Obtain the distance between the intersection radar of the first road and the origin of the intersection coordinate system; The section of the first road that is (d, d+m) away from the origin of the intersection coordinate system is taken as the effective section of the first road; where d represents the distance between the intersection radar of the first road and the origin of the intersection coordinate system, and m represents a first fixed value. The slope of the first road is calculated based on the position coordinates of at least one fusion target within the effective section of the first road. The calculation of the slope of the first road based on the position coordinates of at least one fused target within the effective segment of the first road includes: Step 1: Initialize the number of iterations; Step 2: Obtain at least two location coordinates of the current fusion target within the effective segment; Step 3: Based on at least two position coordinates of the current fusion target within the effective segment, calculate the slope of a single track at the current iteration number; Step 4: Input the current iteration number and the slope of the single track under the current iteration number into the slope calculation formula, calculate the slope of the first road corresponding to the current iteration number, increment the current iteration number by 1, return to step 2 to continue execution, until the current iteration number reaches the maximum iteration number; The slope calculation formula is as follows: ； in, Indicates the first i The slope of the first path in the next iteration. Indicates the first i The slope of a single track in the next iteration. Indicates the first i The slope of the first path in the -1st iteration, where w represents the weight coefficient, and .

2. The method for determining the target driving direction at an intersection according to claim 1, characterized in that, The reference position coordinates include reference x-coordinates and reference y-coordinates; The linear model is as follows: ; in, This represents the reference y-coordinate. Indicates the reference x-coordinate; This represents the slope of the first road. This represents the current x-coordinate of the fusion target. This represents the predicted y-coordinate of the fused target at the current x-coordinate.

3. The method for determining the target driving direction at an intersection according to claim 1, characterized in that, The radar data also includes Doppler values; determining the driving direction of the fused target based on the predicted and actual values ​​of the y-coordinate of the fused target at the current x-coordinate includes: Calculate the absolute value of the difference between the predicted value and the true value of the y coordinate of the fused target under the current x coordinate. If the absolute value of the difference is less than or equal to the first preset value, then the driving direction of the fused target is determined to be straight. If the absolute value of the difference is greater than the first preset value, and the actual value of the position coordinate of the fused target in the current x coordinate is to the right of the predicted value, then the driving direction of the fused target is determined to be a right turn; If the absolute value of the difference is greater than the first preset value, and the actual value of the position coordinate of the fused target in the current x coordinate is to the left of the predicted value, then the driving direction of the fused target is determined to be a left turn; If the difference between the Doppler value of the fused target at the current x-coordinate and the Doppler value at the reference position coordinate is less than a second preset value, and the Doppler value of the fused target at the current x-coordinate and the Doppler value at the reference position coordinate have opposite signs, then the driving direction of the fused target is determined to be a U-turn.

4. The method for determining the target driving direction at an intersection according to any one of claims 1 to 3, characterized in that, The location coordinates are the location coordinates in the intersection coordinate system; Before using the position coordinates of the fused target as it is about to pass through the target intersection as reference position coordinates, the method further includes: The intersection coordinate system is established by using the line connecting the intersection radar with the largest first metric value and the intersection radar with the smallest first metric value among the multiple intersection radars of the target intersection as the vertical axis and the perpendicular bisector of the line as the horizontal axis. The first metric value is either longitude or latitude.

5. A target driving direction determination device at an intersection, characterized in that, include: The position coordinate acquisition module is used to acquire radar data of a fused target on a first road through at least one intersection radar corresponding to the target intersection. The radar data includes position coordinates. The position coordinates of the fused target when it is about to pass through the target intersection are used as reference position coordinates. The first road is any road leading to the target intersection. The position coordinates include x-coordinates and y-coordinates. The straight-line model calculation module is used to calculate the straight-line model of the fused target based on the reference position coordinates and the slope of the first road; the straight-line model is used to represent the relationship between the x-coordinate and y-coordinate of the fused target when it is traveling in a straight line; The coordinate prediction module is used to predict the y coordinate of the fusion target in the current x coordinate based on the straight linear model. The driving direction determination module is used to determine the driving direction of the fused target based on the predicted value and the actual value of the y coordinate of the fused target under the current x coordinate. The location coordinates are location coordinates in the intersection coordinate system; the device also includes: The road slope calculation module is used for: Obtain the distance between the intersection radar of the first road and the origin of the intersection coordinate system; The section of the first road that is (d, d+m) away from the origin of the intersection coordinate system is taken as the effective section of the first road; where d represents the distance between the intersection radar of the first road and the origin of the intersection coordinate system, and m represents a first fixed value. The slope of the first road is calculated based on the position coordinates of at least one fusion target within the effective section of the first road. The road slope calculation module is specifically used for: Step 1: Initialize the number of iterations; Step 2: Obtain at least two location coordinates of the current fusion target within the effective segment; Step 3: Based on at least two position coordinates of the current fusion target within the effective segment, calculate the slope of a single track at the current iteration number; Step 4: Input the current iteration number and the slope of the single track under the current iteration number into the slope calculation formula, calculate the slope of the first road corresponding to the current iteration number, increment the current iteration number by 1, return to step 2 to continue execution, until the current iteration number reaches the maximum iteration number; The slope calculation formula is as follows: ； in, Indicates the first i The slope of the first path in the next iteration. Indicates the first i The slope of a single track in the next iteration. Indicates the first i The slope of the first path in the -1st iteration, where w represents the weight coefficient, and .

6. A terminal, characterized in that, It includes a processor and a memory, the memory being used to store a computer program, and the processor being used to call and run the computer program stored in the memory to perform the method as described in any one of claims 1 to 4.

7. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1 to 4 above.

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