A method, apparatus and device for determining a vehicle perception range

Abstract

The embodiment of the specification discloses a kind of determination method, device and equipment of vehicle perception range, which can include: by determining the first perception range of target vehicle along the path to be driven, and determining the second perception range corresponding to stagger point, then the first perception range and the second perception range are merged to obtain the vehicle perception range of the target vehicle;Thus, the vehicle perception range of the target vehicle is dynamically adjusted according to the stagger point in the embodiment of the specification, so that the vehicle perception range includes all possible traffic conflict areas with the target vehicle, effectively solves the problem of blind area in the process of automatic driving, so that the target vehicle or other calling party obtains more suitable perception result.According to the stagger point in the embodiment of the specification, the vehicle perception range of the target vehicle can be dynamically adjusted to avoid the vehicle perception area being too large, so as to reduce the amount of calculation while ensuring driving safety.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic driving, in particular to a method, device and equipment for determining vehicle perception range. BACKGROUND

[0002] Automatic driving technology is a technology that can perceive its environment and drive with little or no human input. Real-time dynamic perception of traffic participants is the foundation of ensuring the safe driving of autonomous vehicles and realizing multi-end collaborative control. Considering technology, cost and the complexity of scenarios, today's autonomous vehicles are often applied to specific scenarios, and the perception devices used are not the same, mainly including single-vehicle intelligent perception and "vehicle-road-cloud" integrated perception.

[0003] Single-vehicle intelligent perception mainly perceives the real-time dynamics of traffic participants through vehicle-mounted perception devices such as laser radars and cameras. The vehicle perception range depends on the detection range of the vehicle-mounted perception device. Generally, the vehicle perception range is limited to about 200 meters around the vehicle body, and there is a certain visual blind area.

[0004] "Vehicle-road-cloud" integrated perception obtains perception data through roadside devices, and the cloud takes the perception data of the entire road section as the perception data of the vehicle, which has a huge amount of computation.

[0005] Therefore, there is an urgent need for a method, device and equipment for determining vehicle perception range. SUMMARY

[0006] The embodiments of the present specification propose a method, device and equipment for determining vehicle perception range, which dynamically adjusts the vehicle perception range of a target vehicle to reduce the amount of calculation while ensuring driving safety.

[0007] The method for determining vehicle perception range provided by the embodiments of the present specification comprises:

[0008] obtaining vehicle position information and driving reference line information of a target vehicle; the driving reference line information is used to guide the target vehicle to drive along a to-be-driven path from a vehicle position corresponding to the vehicle position information;

[0009] determining a first perception range of the target vehicle along the to-be-driven path according to the vehicle position information and the driving reference line information;

[0010] if the target road section in the to-be-driven path contains an intersection point, determining a second perception range of the target vehicle based on position information of the intersection point;

[0011] merging the first perception range and the second perception range to obtain the vehicle perception range of the target vehicle.

[0012] This specification provides an embodiment of a device for determining the perception range of a vehicle, comprising:

[0013] The acquisition module is used to acquire the vehicle location information and driving reference line information of the target vehicle; the line

[0014] The driving reference line information is used to guide the target vehicle to travel along the driving path 5 from the vehicle position corresponding to the vehicle position information.

[0015] The first range determination module is used to determine the first perception range of the target vehicle along the path to be driven based on the vehicle location information and the driving reference line information.

[0016] The second range determination module is used to determine the second perception range of the target vehicle based on the location information of the intersection points if the target road segment in the path to be traveled contains intersection points; the range merging module is used to merge the first perception range and the second perception range.

[0017] And, the vehicle perception range of the target vehicle is obtained.

[0018] This specification provides an embodiment of a device for determining the perception range of a vehicle, comprising:

[0019] At least one processor; and,

[0020] A memory communicatively connected to the at least one processor; wherein,

[0021] 5. The memory stores instructions that can be executed by the at least one processor, the instructions being...

[0022] At least one processor executes such that the at least one processor is capable of:

[0023] Obtain the vehicle location information and driving reference line information of the target vehicle; the driving reference line information is used to guide the target vehicle to travel along the driving path from the vehicle location corresponding to the vehicle location information.

[0024] 0. Based on the vehicle location information and the driving reference line information, determine that the target vehicle is along the...

[0025] The initial sensing range of the route to be traveled;

[0026] If the target road segment in the path to be traveled contains an intersection, then the second perception range of the target vehicle is determined based on the location information of the intersection.

[0027] The first perception range and the second perception range are merged to obtain the vehicle perception range of the target vehicle 5.

[0028] The above at least one technical solution adopted by the embodiments of the present specification can achieve the following beneficial effects:

[0029] The embodiments of the present specification disclose a vehicle perception range determination method, device and equipment, which can include: determining a first perception range of a target vehicle along a to-be-traveled path, and determining an intersection point

[0030] corresponding to a second perception range, and then merging the first perception range and the second perception range to obtain a vehicle perception range of the target vehicle; thereby, in the embodiments of the present specification, the vehicle perception range of the target vehicle is dynamically adjusted according to the intersection point

[0031] , so that the vehicle perception range includes all possible car regions that may have a traffic conflict with the target vehicle, effectively solving the problem of blind area in the automatic driving process, and allowing the target vehicle or other calling party to obtain more suitable perception results. Moreover, in the embodiments of the present specification, the vehicle perception range of the target vehicle can be dynamically adjusted according to the intersection point to avoid the vehicle perception area being too large, so as to reduce the calculation amount while ensuring driving safety. BRIEF DESCRIPTION OF DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present specification or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments described in the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0033] Figure 1 An application scenario diagram of a vehicle perception range determination method provided by the embodiments of the present specification is shown in the figure.

[0034] Figure 2 A flowchart of a vehicle perception range determination method provided by the embodiments of the present specification is shown in the figure.

[0035] Figure 3 A structural diagram of a vehicle perception range determination device corresponding to the embodiments of the present specification is shown in the figure. Figure 2

[0036] Figure 4 A structural diagram of a vehicle perception range determination device corresponding to the embodiments of the present specification is shown in the figure. Figure 2 DETAILED DESCRIPTION

[0037] ​​In order for those skilled in the technical field to better understand the technical solutions in the specification, the technical solutions in the specification will be clearly and completely described below in conjunction with the drawings in the specification. Obviously, the described embodiments are only some of the embodiments of the present application, not all. Based on the specification embodiments, all other embodiments obtained by those skilled in the art without creative labor should fall within the scope of protection of the present application.

[0038] In the description of the present application, it should be understood that the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore cannot be understood as a limitation on the present application.

[0039] The above-described embodiments are only to describe the preferred modes of the present application, and not to limit the scope of the present application. Without departing from the design spirit of the present application, various modifications and improvements to the technical solutions of the present application made by those skilled in the art should fall within the scope of protection of the present application as determined by the claims.

[0040] Figure 1 An application scenario schematic diagram of a vehicle perception range determination method provided by the present application is shown in the figure. In the figure, 1 is a target vehicle, 2 is a to-be-traveled path of the target vehicle, 3 is a travel reference line of the target vehicle, 4 is an intersection point in the to-be-traveled path, and 5 is an entrance lane of the intersection point. Figure 1 The dark rectangle in the figure is a traffic participant in the vehicle perception area of the target vehicle, and the other rectangles are traffic participants outside the vehicle perception area.

[0041] When the target vehicle is about to merge from the ramp to the main road, the vehicle perception range of the target vehicle can be expanded from the current path to the entrance lane 5 of the intersection point 4, so that the vehicle perception range can include all possible traffic conflict areas with the target vehicle, effectively solving the problem of blind area in the automatic driving process and improving the driving safety.

[0042] Figure 2 A flowchart of a vehicle perception range determination method provided by the present application is shown in the figure.

[0043] From the program point of view, the execution subject of the flowchart can be the target vehicle or a cloud platform connected to the target vehicle, and can also be an application program loaded on the target vehicle or the cloud platform.

[0044] like Figure 1 As shown, the process may include the following steps:

[0045] Step 201: Obtain the vehicle location information and driving reference line information of the target vehicle; the driving reference line information is used to guide the target vehicle to travel along the driving path from the vehicle location corresponding to the vehicle location information.

[0046] In this embodiment of the specification, the driving reference line may refer to the center line of several paths to be traveled by the target vehicle at its current position, with a total length of a predetermined length. The target vehicle travels along the paths to be traveled from the vehicle position corresponding to the vehicle position information.

[0047] Step 203: Based on the vehicle location information and the driving reference line information, determine the first perception range of the target vehicle along the path to be driven;

[0048] In the embodiments described in this specification, the first sensing range may also be referred to as the basic sensing range, which may include the front sensing range and the rear sensing range.

[0049] In this embodiment of the specification, the forward sensing range may refer to the sensing range in front of the target vehicle along the path to be driven; the forward sensing range may include: the current lane of the target vehicle in the path to be driven, and lanes that may be entered into the current lane.

[0050] In this embodiment of the specification, in order to further reduce the amount of computation, when the road where the target vehicle is located has a median strip or a median guardrail, the forward sensing range may include lanes in the same direction as the lane where the target vehicle is located; when the road where the target vehicle is located does not have a median strip, the forward sensing range may include all lanes of the road where the target vehicle is located.

[0051] In this embodiment of the specification, the rear sensing range can refer to the sensing range behind the target vehicle along the currently located road. The rear sensing range can include: the current lane of the target vehicle passing through the road, and other lanes that might enter the current lane. Specifically, the rear sensing range can include lanes traveling in the same direction as the target vehicle's lane.

[0052] Step 205: If the target road segment in the path to be traveled contains an intersection, then the second perception range of the target vehicle is determined based on the location information of the intersection.

[0053] In the embodiments of the present specification, the intersection point can refer to a position in the to-be-traveled path where the target vehicle is likely to collide, scratch or other traffic accidents with other traffic participants, and can include a merging point, a diverging point and a conflict point of a lane or a road in the to-be-traveled path and other roads or lanes. Correspondingly, the second perception range can include a road on which the other traffic participants are located before entering the intersection point, that is, an entrance road of the intersection point. Specifically, the intersection point can include: an intersection, an auxiliary lane entrance and exit of an expressway, a ramp entrance and exit of an expressway, a ramp entrance and exit of an overpass, and a conflict point of the to-be-traveled path and a pedestrian crossing, a non-motor vehicle lane, etc. Correspondingly, the second perception range can include an entrance road within a preset distance from the intersection point.

[0054] In the embodiments of the present specification, when the target vehicle has passed the intersection point, that is, when the intersection point falls within the rear perception range, the second perception range can also include the entrance road corresponding to the intersection point.

[0055] Step 207: merging the first perception range and the second perception range to obtain a vehicle perception range of the target vehicle.

[0056] In the embodiments of the present specification, by determining the first perception range of the target vehicle along the to-be-traveled path, and determining the second perception range corresponding to the intersection point, and then merging the first perception range and the second perception range to obtain the vehicle perception range of the target vehicle, it is realized in the embodiments of the present specification that the vehicle perception range of the target vehicle is dynamically adjusted according to the intersection point, so that the vehicle perception range includes all possible traffic conflict areas with the target vehicle, effectively solving the problem of perception blind area in the process of automatic driving, and making the target vehicle or other calling party obtain more appropriate perception results. Since the vehicle perception range of the target vehicle can be dynamically adjusted according to the intersection point in the embodiments of the present specification, the vehicle perception area is prevented from being too large, so as to reduce the calculation amount while ensuring driving safety.

[0057] Based on the method in the present specification, the embodiments of the present specification also provide some specific implementation schemes of the method, which are described as follows. Figure 1

[0058] Optionally, the step 205 can specifically include:

[0059] determining a target map element corresponding to the intersection point;

[0060] determining a road area within a target extension distance from the target map element as the second perception range of the target vehicle. ​

[0061] In the embodiments of the present specification, the intersection point can refer to a region in the to-be-traveled path of the target vehicle that allows other traffic participants to enter, and can include an intersection or a cross of a lane or a road in the to-be-traveled path with other roads or lanes. Correspondingly, the target map element can include a road intersection, a merging point, a lane reduction point, and the like.

[0062] In the embodiments of the present specification, the process of determining the second perception range can include: obtaining map information of the target map element; determining all entrance roads or entrance lanes of the target map element according to the map information; and determining, as the second perception range of the target vehicle, a range in the entrance roads or entrance lanes that is not greater than a target expansion distance from the target map element.

[0063] In the embodiments of the present specification, if the target vehicle is to straight pass at a crossroads without a traffic light, the target road section in the to-be-traveled path contains multiple intersection points. At this time, the second perception range can include all entrance roads or entrance lanes of the crossroads.

[0064] In actual applications, if an exit road (which can include but is not limited to an exit road in the to-be-traveled path) of the target map element is congested, it can also interfere with the travel of the target vehicle. Therefore, the second perception range can also include the exit road or exit lane of the target map element.

[0065] In the embodiments of the present specification, the process of determining the second perception range can also include: obtaining map information of the target map element; determining, according to the map information, an entrance road or an entrance lane corresponding to the intersection point in the target map element; and determining, as the second perception range of the target vehicle, a range in the entrance road or the entrance lane corresponding to the intersection point that is not greater than a target expansion distance from the target map element.

[0066] For example, if the target vehicle is to turn right at a crossroads with multiple lanes, the target road section in the to-be-traveled path contains only one intersection point, i.e., a merging point of the target vehicle and straight vehicles. At this time, the second perception range can include only the source lane or source road of the straight vehicles.

[0067] In the embodiments of the present specification, if the target road section in the to-be-traveled path contains two or more target map elements, the vehicle perception range of the target vehicle can include the second perception ranges corresponding to the two or more target map elements. It should be noted that the target map element can correspond to several intersection points. For example, one crossroads can correspond to multiple intersection points.

[0068] Optionally, before determining the road area whose distance from the target map feature is no greater than the target expansion distance as the second perception range of the target vehicle, the process may further include:

[0069] Obtain the preset extension distance and traffic element information at the target map element; the traffic element information may include traffic flow element information and traffic environment information at the target map element.

[0070] Based on the traffic element information, determine the average braking distance at the target map element;

[0071] The target extension distance is obtained by calculating the sum of the average braking distance and the preset extension distance.

[0072] In the embodiments of this specification, the preset extension distance can be determined based on the speed limit value or the design speed of traffic flow at the target map element, or it can be manually specified.

[0073] In this embodiment of the specification, the traffic flow element information may include traffic volume, traffic velocity, and traffic density at the target map element. The traffic environment information may include weather information such as rain, snow, and fog at the target map element, as well as road surface information such as whether there is water accumulation, snow accumulation, and friction coefficient.

[0074] In this embodiment of the specification, based on the traffic element information such as traffic flow element information and traffic environment information, a regression model is used to calculate the average braking distance, thereby obtaining the target extension distance. The regression model may include an ordinary least squares (OLS) linear regression model.

[0075] In this embodiment of the specification, the average braking distance at the target map element is calculated based on traffic element information, and then the target extension distance is corrected. This enables dynamic adjustment of the second perception range based on the traffic flow element information and the traffic environment information, so that the vehicle perception range can include all areas where traffic conflicts may occur with the target vehicle. This effectively solves the problem of perception blind spots in autonomous driving and allows the target vehicle or other callers to obtain more suitable perception results.

[0076] Optionally, step 205: if the target road segment in the path to be traveled contains an intersection, before determining the second perception range of the target vehicle based on the location information of the intersection, may further include:

[0077] acquire map information in the target road section in the to-be-traveled path; wherein the target road section is a road section in the to-be-traveled path with a distance less than a distance threshold to the target vehicle;

[0078] determine, according to the map information in the target road section, whether there is a target map element including the intersection point in the target road section, to obtain a first determination result;

[0079] If the target road section in the to-be-traveled path contains an intersection point, determine a second perception range of the target vehicle based on position information of the intersection point, which can specifically include:

[0080] If the first determination result indicates that the target road section has a target map element that can include the intersection point, determine a second perception range of the target vehicle based on position information of the target map element.

[0081] In the embodiments of the present specification, the distance threshold can be determined according to the current speed of the target vehicle and a preset time. For example, the distance threshold can be the distance traveled within 10 seconds at the current speed of the target vehicle 10

[0082] seconds. The target road section can include a road section in the to-be-traveled path with a distance less than the distance threshold to the target vehicle, which can specifically refer to a road section in the to-be-traveled path that the target vehicle will travel within a preset time at the current speed.

[0083]

[0084] In the embodiments of the present specification, the target map element can refer to a map element containing the intersection point, which can include a road intersection, a merging point, a lane reduction point, etc.

[0085] In the embodiments of the present specification, if the first determination result indicates that the target road section does not have a target map element that can include the intersection point, the first perception range is taken as the vehicle perception range of the target vehicle, or the first perception range and the influence range of the traffic anomaly event in the latter are merged to obtain the vehicle perception range of the target vehicle.

[0086]

[0087] Optionally, the step 103 of determining the first perception range of the target vehicle along the to-be-traveled path according to the vehicle position information and the travel reference line information can specifically include: determining a front side perception range of the target vehicle along the to-be-traveled path according to the vehicle position information and the travel reference line information.

[0088]

[0089] ​​​According to the vehicle position information, a rear side perception range of the target vehicle on a current road section is determined; and the front side perception range and the rear side perception range are merged to obtain the first perception range of the target vehicle.

[0090] In the embodiments of the present specification, the front side perception range can include the road section in front of the target vehicle along the driving direction of the target vehicle on the to-be-traveled path.

[0091] The perception range of the to-be-traveled path, i.e., the front side perception range, can include the current lane of the target vehicle in the to-be-traveled path and lanes that can possibly enter the current lane. Specifically, the front side perception range can only include lanes in the same direction as the target vehicle, and can also include several or all opposite lanes closest to the target vehicle.

[0092] In the embodiments of the present specification, when the road where the target vehicle is located has a median strip or a median guardrail, and the front side perception range only includes lanes in the same direction as the lane where the target vehicle is located, the conflict point can also include an opening of the median strip or the median guardrail, and correspondingly, the second perception range can also include a part of the area of the opposite lane in front of the opening along the driving direction of the target vehicle.

[0093] In the embodiments of the present specification, when the road where the target vehicle is located has a median strip or a median guardrail, and the front side perception range only includes lanes in the same direction as the lane where the target vehicle is located, the conflict point can also include an opening of the median strip or the median guardrail, and correspondingly, the second perception range can also include a part of the area of the opposite lane in front of the opening along the driving direction of the target vehicle.

[0094] In the embodiments of the present specification, the rear side perception range can refer to the road section behind the target vehicle along the current road section.

[0095] In the embodiments of the present specification, the rear side perception range can refer to the road section behind the target vehicle along the current road section.

[0096] Optionally, the determining, according to the vehicle position information and the driving reference line information, of the first perception range of the target vehicle along the to-be-traveled path can specifically include:

[0097] Based on the vehicle position information and the driving reference line information, a Frenet coordinate system with the vehicle position as the origin is established;

[0098] According to a preset vehicle perception distance and the Frenet coordinate system, the first perception range represented by Frenet coordinates is determined;

[0099] According to the vehicle position information and the driving reference line information, a conversion relationship between Frenet coordinates and latitude-longitude coordinates is determined;

[0100] The first perception range expressed in the Frenet coordinates is converted into the first perception range expressed in the latitude and longitude coordinates by using the conversion relationship.

[0101] In the embodiments of the present specification, the vehicle perception distance can include a vehicle front side perception distance, a first vehicle left and right perception distance corresponding to the vehicle front side perception distance, a vehicle rear side perception distance, and a second vehicle left and right perception distance corresponding to the vehicle rear side perception distance.

[0102] In the embodiments of the present specification, the first perception range can include the front side perception range and the rear side perception range. In the Frenet coordinate system, the front side perception range and the rear side perception range can both be rectangular. Specifically, the front side perception range can be a rectangle with the vehicle front side perception distance and the first vehicle left and right perception distance as the sides. The rear side perception range can be a rectangle with the vehicle rear side perception distance and the second vehicle left and right perception distance as the sides.

[0103] In the embodiments of the present specification, the vehicle perception distance can be a default value at the cloud server, and can also be set by a driver of the target vehicle through manual operation or voice instruction. The vehicle front side perception distance and the vehicle rear side perception distance can be adjusted and set according to one or more of the current vehicle speed, the speed limit value of the current road, and the traffic element information of the current road.

[0104] In the embodiments of the present specification, in the Frenet coordinate system, the first perception range can also be another preset shape set by the driver of the target vehicle.

[0105] Optionally, before the first perception range and the second perception range are merged to obtain the vehicle perception range of the target vehicle, the method can further include:

[0106] determining whether a traffic abnormal event affecting driving of the target vehicle occurs in the first perception range to obtain a second determination result;

[0107] if the second determination result indicates that a traffic abnormal event affecting driving of the target vehicle occurs in the first perception range, obtaining an influence range of the traffic abnormal event;

[0108] The first perception range and the second perception range are merged to obtain the vehicle perception range of the target vehicle, specifically can include:

[0109] The first perception range, the second perception range, and the influence range are merged to obtain the vehicle perception range of the target vehicle.

[0110] In the embodiments of the present specification, the traffic abnormal event can refer to an abnormal event affecting normal operation of traffic, and can include a traffic accident, road construction, an obstacle blocking traffic, traffic congestion, and a sharp decrease in vehicle speed.

[0111] In the embodiments of the present specification, by merging the influence range of the traffic abnormal event into the vehicle perception range of the target vehicle, when an abnormal event occurs in the to-be-traveled path, the target vehicle or the calling party can be informed of the abnormal event in advance to ensure driving safety.

[0112] Optionally, after the influence range of the traffic abnormal event is obtained, the method can further include:

[0113] determining whether the target vehicle is located within the influence range, to obtain a third determination result;

[0114] The merging of the first perception range, the second perception range, and the influence range to obtain the vehicle perception range of the target vehicle can specifically include:

[0115] If the third determination result indicates that the target vehicle is located within the influence range, the first perception range, the second perception range, and the influence range are merged to obtain the vehicle perception range of the target vehicle.

[0116] If the third determination result indicates that the target vehicle is located within the influence range, the first perception range, the second perception range, and the influence range are merged to obtain the vehicle perception range of the target vehicle.

[0117] If the third determination result indicates that the target vehicle is located outside the influence range, the first perception range and the second perception range are merged to obtain the vehicle perception range of the target vehicle.

[0118] In the embodiments of the present specification, according to whether the target vehicle is located within the influence range of the traffic abnormal event, it is determined whether the traffic abnormal event affects normal driving of the target vehicle, and only when the target vehicle is located within the influence range, the influence range of the traffic abnormal event is merged into the vehicle perception range of the target vehicle, so as to reduce the amount of calculation while ensuring driving safety.

[0119] In the embodiments of the present specification, according to whether the target vehicle is located within the influence range of the traffic abnormal event, it is determined whether the traffic abnormal event affects normal driving of the target vehicle, and only when the target vehicle is located within the influence range, the influence range of the traffic abnormal event is merged into the vehicle perception range of the target vehicle, so as to reduce the amount of calculation while ensuring driving safety.

[0120] The present specification discloses a method for determining a vehicle perception range, which can include: obtaining vehicle position information and travel reference line information of a target vehicle; the travel reference line information is used to guide the target vehicle to travel along a to-be-traveled path from a vehicle position corresponding to the vehicle position information;

[0121]

[0122] ​establish a Frenet coordinate system with the vehicle position as an origin based on the vehicle position information and the driving reference line information;

[0123] establish a Frenet coordinate system with the vehicle position as an origin based on the vehicle position information and the driving reference line information;

[0124] 0 determine a front-side perception range and a rear-side perception range represented by Frenet coordinates according to a preset vehicle perception distance and the Frenet coordinate system;

[0125] 0 determine a front-side perception range and a rear-side perception range represented by Frenet coordinates according to a preset vehicle perception distance and the Frenet coordinate system;

[0126] merge the front-side perception range and the rear-side perception range to obtain the first perception range represented by Frenet coordinates.

[0127] determine a conversion relationship between Frenet coordinates and latitude-longitude coordinates according to the vehicle position information and the driving reference line information;

[0128] perform coordinate conversion on the first perception range represented by Frenet coordinates to obtain the first perception range represented by latitude-longitude coordinates by using the conversion relationship.

[0129] obtain map information in the target road section in the to-be-traveled path; wherein the target road section is a road section in the to-be-traveled path that is less than a distance threshold away from the target vehicle;

[0130] determine whether there is a target map element that can include the staggered point in the target road section according to the map information, to obtain a first determination result;

[0131] if the first determination result indicates that there is a target map element that can include the staggered point in the target road section, determine the target map element corresponding to the staggered point;

[0132] obtain a preset expansion distance and traffic element information at the target map element; the traffic element information can include traffic flow element information and traffic environment information at the target map element;

[0133] determine an average braking distance at the target map element according to the traffic element information;

[0134] calculate a sum of the average braking distance and the preset expansion distance to obtain the target expansion distance.

[0135] determine a road area that is not more than the target expansion distance away from the target map element as a second perception range of the target vehicle.

[0136] determine whether a traffic abnormal event that affects driving of the target vehicle occurs in the first perception range, to obtain a second determination result;

[0137] if the second determination result indicates that the traffic abnormal event affecting the driving of the target vehicle occurs in the first perception range, obtaining an influence range of the traffic abnormal event;

[0138] determining whether the target vehicle is located in the influence range, to obtain a third determination result;

[0139] if the third determination result indicates that the target vehicle is located in the influence range, merging the first perception range, the second perception range and the influence range to obtain the vehicle perception range of the target vehicle;

[0140] if the third determination result indicates that the target vehicle is located out of the influence range, merging the first perception range and the second perception range to obtain the vehicle perception range of the target vehicle.

[0141] In the embodiments of the present specification, if the first determination result indicates that the target road section does not have a target map element that can include the staggered point, the first perception range is taken as the vehicle perception range of the target vehicle, or the first perception range and the influence range of the traffic abnormal event are merged to obtain the vehicle perception range of the target vehicle.

[0142] Based on the same idea, the present specification also provides a device corresponding to the above method.

[0143] Figure 3 A structure schematic diagram of a vehicle perception range determination device corresponding to Figure 1 provided by the embodiments of the present specification is shown. As shown in Figure 3 the device can include:

[0144] The acquisition module 301 is configured to acquire vehicle position information and driving reference line information of a target vehicle; the driving reference line information is used to guide the target vehicle to drive along a to-be-driven path from a vehicle position corresponding to the vehicle position information;

[0145] The first range determination module 303 is configured to determine a first perception range of the target vehicle along the to-be-driven path according to the vehicle position information and the driving reference line information;

[0146] The second range determination module 305 is configured to, if a target road section in the to-be-driven path contains a staggered point, determine a second perception range of the target vehicle based on position information of the staggered point;

[0147] The range merging module 307 is configured to merge the first perception range and the second perception range to obtain a vehicle perception range of the target vehicle.

[0148] Based on the same idea, the embodiments of the present specification also provide a device corresponding to the above method.

[0149] Optionally, the second range determining module 305 can be used for:

[0150] determining a target map element corresponding to the intersection point;

[0151] determining a road area with a distance not greater than a target expansion distance from the target map element as a second perception range of the target vehicle.

[0152] Optionally, the device can further include:

[0153] The first acquisition module can be used for acquiring preset expansion distance and traffic element information at the target map element; the traffic element information can include traffic flow element information and traffic environment information at the target map element;

[0154] The brake distance determining module can be used for determining an average brake distance at the target map element according to the traffic element information;

[0155] The target expansion distance calculating module can be used for calculating a sum of the average brake distance and the preset expansion distance to obtain the target expansion distance.

[0156] Optionally, the device can further include:

[0157] The second acquisition module can be used for acquiring map information in the target road section in the to-be-traveled path; wherein, the target road section is a road section in the to-be-traveled path with a distance less than a distance threshold from the target vehicle;

[0158] The first judging module can be used for judging whether there is a target map element that can include the intersection point in the target road section according to the map information in the target road section, to obtain a first judgment result;

[0159] The second range determining module 305 can be specifically used for:

[0160] If the first judgment result indicates that there is a target map element including the intersection point in the target road section, a second perception range of the target vehicle is determined based on position information of the target map element.

[0161] Optionally, the first range determining module 303 can be specifically used for:

[0162] determining a front side perception range of the target vehicle along the to-be-traveled path according to the vehicle position information and the travel reference line information;

[0163] According to the vehicle position information, a rear side perception range of the target vehicle on a current road section is determined;

[0164] The front side perception range and the rear side perception range are merged to obtain the first perception range of the target vehicle.

[0165] Optionally, the first range determining module 303 can be specifically used for:

[0166] Based on the vehicle position information and the travel reference line information, a Frenet coordinate system with the vehicle position as an origin is established;

[0167] According to a preset vehicle perception distance and the Frenet coordinate system, the first perception range expressed in Frenet coordinates is determined;

[0168] According to the vehicle position information and the travel reference line information, a conversion relationship between Frenet coordinates and latitude-longitude coordinates is determined;

[0169] The first perception range expressed in Frenet coordinates is converted into the first perception range expressed in latitude-longitude coordinates by using the conversion relationship.

[0170] Optionally, the apparatus can further include:

[0171] The second determining module can be used for determining whether a traffic abnormal event affecting travel of the target vehicle occurs in the first perception range, to obtain a second determining result;

[0172] The influence range obtaining module can be used for obtaining an influence range of the traffic abnormal event if the second determining result indicates that the traffic abnormal event affecting travel of the target vehicle occurs in the first perception range;

[0173] The range merging module 307 can be specifically used for:

[0174] The first perception range, the second perception range and the influence range are merged to obtain the vehicle perception range of the target vehicle.

[0175] Optionally, the apparatus can further include:

[0176] The third determining module can be used for determining whether the target vehicle is located in the influence range, to obtain a third determining result;

[0177] The range merging module 307 can be specifically used for:

[0178] If the third determination result indicates that the target vehicle is located within the influence range, the first perception range, the second perception range and the influence range are merged to obtain the vehicle perception range of the target vehicle.

[0179] If the third determination result indicates that the target vehicle is located outside the influence range, the first perception range and the second perception range are merged to obtain the vehicle perception range of the target vehicle.

[0180] Figure 4 A structure diagram of a vehicle perception range determination device corresponding to Figure 1 provided by an embodiment of the present specification is shown in FIG. 4. As shown in FIG. 4, the device 400 can include: Figure 4

[0181] at least one processor 410; and,

[0182] a memory 430 in communication connection with the at least one processor; wherein,

[0183] the memory 430 stores instructions 420 executable by the at least one processor 410, and the instructions are executed by the at least one processor 410 to enable the at least one processor 410 to:

[0184] obtain vehicle position information and travel reference line information of a target vehicle; the travel reference line information is used to guide the target vehicle to travel along a to-be-traveled path from a vehicle position corresponding to the vehicle position information;

[0185] determine a first perception range of the target vehicle along the to-be-traveled path according to the vehicle position information and the travel reference line information;

[0186] if a target section in the to-be-traveled path contains an intersection point, determine a second perception range of the target vehicle based on position information of the intersection point;

[0187] merge the first perception range and the second perception range to obtain a vehicle perception range of the target vehicle.

[0188] Each of the embodiments in the present specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other. Each embodiment focuses on the difference from other embodiments. In particular, for the device shown in FIG. 4, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the part of the method embodiment. Figure 4

[0189] ​​In the 1990s, it was relatively easy to distinguish whether an improvement in a technology was a hardware improvement (e.g., an improvement in the circuit structure of a diode, transistor, switch, etc.) or a software improvement (an improvement in a method flow). However, as technology has advanced, many improvements in method flows today can be considered as direct improvements in hardware circuit structures. Designers almost always obtain the corresponding hardware circuit structure by programming the improved method flow into a hardware circuit. Therefore, it cannot be said that an improvement in a method flow cannot be implemented using a hardware entity module. For example, a programmable logic device (PLD) (e.g., a field programmable gate array (FPGA)) is an integrated circuit whose logic function is determined by user programming of the device. A designer programs a digital system "integrated" on a PLD by himself, without having to ask a chip manufacturer to design and manufacture a special integrated circuit chip. Moreover, instead of manually manufacturing an integrated circuit chip, today this programming is mostly implemented using "logic compiler" software, which is similar to a software compiler used when developing a program, and the original code before compilation must also be written in a specific programming language, which is called a hardware description language (HDL), and there are many types of HDLs, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, My HDL, PALASM, RHDL (Ruby Hardware Description Language), etc., and the most commonly used are VHDL (Very-High-Speed Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art should also be aware that it is easy to obtain a hardware circuit that implements a logical method flow by only logically programming the method flow using the above-mentioned hardware description languages and programming it into an integrated circuit.

[0190] The controller can be implemented in any suitable way, for example, the controller can take the form of a microprocessor or processor and a computer readable medium storing computer readable program code, such as software or firmware, executable by the (micro)processor, logic gates, switches, an application specific integrated circuit (ASIC), a programmable logic controller and an embedded microcontroller, examples of which can include but are not limited to the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20 and Silicone Labs C8051F320, the memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art will also know that, in addition to implementing the controller in pure computer readable program code, it is also possible to implement the controller in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers and embedded microcontrollers, etc. to perform the same functions by means of logical programming of the method steps. Such a controller can therefore be considered as a hardware component, while the means that can be included therein for implementing various functions can also be considered as structures within the hardware component. Alternatively, even the means that can be used to implement various functions can be considered as both a software module implementing a method and a structure within a hardware component.

[0191] The systems, apparatuses, modules or units illustrated by the above embodiments can be specifically implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, the computer can be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0192] For the sake of description, the above apparatuses are described in functional division and are described respectively. Of course, the functions of the units can be implemented in the same or multiple software and / or hardware in the implementation of the present application.

[0193] Those skilled in the art will understand that the embodiments of the present application can be provided as a method, a system or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer usable storage media (which can include but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer usable program code.

[0194] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks in the flowcharts and / or blocks can be implemented by computer program instructions. Figure 1 one or more flowcharts and / or blocks in the flowcharts and / or blocks can be implemented by computer program instructions.

[0195] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks in the flowcharts and / or blocks can be implemented by computer program instructions. Figure 1 one or more flowcharts and / or blocks in the flowcharts and / or blocks can be implemented by computer program instructions.

[0196] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks in the flowcharts and / or blocks can be implemented by computer program instructions. Figure 1 one or more flowcharts and / or blocks in the flowcharts and / or blocks can be implemented by computer program instructions.

[0197] In one typical configuration, a computing device can include one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0198] The memory can include non-persistent memory and / or volatile memory, such as random access memory (RAM) and / or cache memory, non-volatile memory, such as read-only memory (ROM), EPROM, and / or flash memory, etc. The memory is an example of computer-readable media.

[0199] Computer-readable media can include permanent and non-permanent, movable and non-movable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media can include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, magnetic tape disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to a computing device. According to the definition herein, computer-readable media can not include transitory computer-readable media, such as modulated data signals and carriers.

[0200] It should also be noted that the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements, but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without more limitations, an element defined by the statement "comprises a" does not exclude the presence of additional identical elements in the process, method, article, or apparatus that can include the element.

[0201] Those skilled in the art will appreciate that embodiments of the present application can be provided as a method, a system or a computer program product. Therefore, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage devices, etc.) containing computer usable program code.

[0202] The present application can be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules can include routines, programs, objects, components, data structures, etc., that perform particular tasks or implement particular abstract data types. The present application can also be practiced in distributed computing environments where tasks are performed by remote processing devices that are connected through a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media including storage devices.

[0203] The above merely provides an example of the present application, and should not be used to limit the present application. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application should be included in the scope of claims of the present application.

Claims

1. A method of determining a perception range of a vehicle, characterized in that, The method comprises the following steps: obtaining vehicle position information and travel reference line information of a target vehicle; the travel reference line information is used to guide the target vehicle to travel along a to-be-traveled path from a vehicle position corresponding to the vehicle position information; determining a first perception range of the target vehicle along the to-be-traveled path according to the vehicle position information and the travel reference line information; if a target section in the to-be-traveled path contains an intersection point, determining a second perception range of the target vehicle based on position information of the intersection point; merging the first perception range and the second perception range to obtain a vehicle perception range of the target vehicle; before the step of merging the first perception range and the second perception range to obtain the vehicle perception range of the target vehicle, the method further comprises the following steps: determining whether a traffic abnormal event affecting the travel of the target vehicle occurs in the first perception range to obtain a second determination result; if the second determination result indicates that a traffic abnormal event affecting the travel of the target vehicle occurs in the first perception range, obtaining an influence range of the traffic abnormal event; the step of merging the first perception range and the second perception range to obtain the vehicle perception range of the target vehicle specifically comprises the following step: merging the first perception range, the second perception range, and the influence range to obtain the vehicle perception range of the target vehicle; after the step of obtaining the influence range of the traffic abnormal event, the method further comprises the following step: determining whether the target vehicle is located within the influence range to obtain a third determination result; the step of merging the first perception range, the second perception range, and the influence range to obtain the vehicle perception range of the target vehicle specifically comprises the following steps: if the third determination result indicates that the target vehicle is located within the influence range, merging the first perception range, the second perception range, and the influence range to obtain the vehicle perception range of the target vehicle; if the third determination result indicates that the target vehicle is located outside the influence range, merging the first perception range and the second perception range to obtain the vehicle perception range of the target vehicle.

2. The method of claim 1, wherein, the step of determining the second perception range of the target vehicle based on the position information of the intersection point specifically comprises the following steps: determining a target map element corresponding to the intersection point; determining a road area with a distance not greater than a target expansion distance from the target map element as the second perception range of the target vehicle.

3. The method of claim 2, wherein, before the step of determining the road area with a distance not greater than a target expansion distance from the target map element as the second perception range of the target vehicle, the method further comprises the following steps: obtaining a preset expansion distance and traffic element information at the target map element; the traffic element information comprises traffic flow element information and traffic environment information at the target map element; determining an average braking distance at the target map element according to the traffic element information; calculating a sum of the average braking distance and the preset expansion distance to obtain the target expansion distance.

4. The method of claim 1, wherein, If the target road section in the to-be-traveled path contains an intersection point, then before determining the second perception range of the target vehicle based on position information of the intersection point, the method further includes: obtaining map information in the target road section in the to-be-traveled path; wherein the target road section is a road section in the to-be-traveled path that has a distance less than a distance threshold from the target vehicle; judging, according to the map information in the target road section, whether the target road section has a target map element including the intersection point, to obtain a first judgment result; If the target road section in the to-be-traveled path contains an intersection point, then before determining the second perception range of the target vehicle based on position information of the intersection point, the method further includes: If the first judgment result indicates that the target road section has a target map element including the intersection point, then determining the second perception range of the target vehicle based on position information of the target map element.

5. The method of claim 1, wherein, The method further includes: determining, according to the vehicle position information and the travel reference line information, a front-side perception range of the target vehicle along the to-be-traveled path; determining, according to the vehicle position information, a rear-side perception range of the target vehicle on a current road section; merging the front-side perception range and the rear-side perception range to obtain the first perception range of the target vehicle.

6. The method of claim 5, wherein determining, according to the vehicle position information and the travel reference line information, a first perception range of the target vehicle along the to-be-traveled path includes: establishing, based on the vehicle position information and the travel reference line information, a Frenet coordinate system with the vehicle position as an origin; determining, according to a preset vehicle perception distance and the Frenet coordinate system, the first perception range in Frenet coordinates; determining, according to the vehicle position information and the travel reference line information, a conversion relationship between Frenet coordinates and latitude-longitude coordinates; performing coordinate conversion on the first perception range in Frenet coordinates using the conversion relationship to obtain the first perception range in latitude-longitude coordinates.

7. A device for determining the sensing range of a vehicle, characterized in that, The method further includes: an obtaining module configured to obtain vehicle position information and travel reference line information of a target vehicle; the travel reference line information is used to guide the target vehicle to travel along a to-be-traveled path from a vehicle position corresponding to the vehicle position information; a first range determining module configured to determine, according to the vehicle position information and the travel reference line information, a first perception range of the target vehicle along the to-be-traveled path; a second range determining module configured to, if a target road section in the to-be-traveled path contains an intersection point, determine a second perception range of the target vehicle based on position information of the intersection point; a range merging module configured to merge the first perception range and the second perception range to obtain a vehicle perception range of the target vehicle. The apparatus further includes: The second determining module is configured to determine whether a traffic abnormal event affecting the driving of the target vehicle occurs in the first sensing range, and obtain a second determining result. The influence range obtaining module is configured to, if the second determining result indicates that the traffic abnormal event affecting the driving of the target vehicle occurs in the first sensing range, obtain an influence range of the traffic abnormal event. The range merging module is specifically configured to: merge the first sensing range, the second sensing range and the influence range to obtain the vehicle sensing range of the target vehicle. The device further includes: The third determining module is configured to determine whether the target vehicle is located in the influence range, and obtain a third determining result. The range merging module is specifically configured to: if the third determining result indicates that the target vehicle is located in the influence range, merge the first sensing range, the second sensing range and the influence range to obtain the vehicle sensing range of the target vehicle; and if the third determining result indicates that the target vehicle is located out of the influence range, merge the first sensing range and the second sensing range to obtain the vehicle sensing range of the target vehicle.

8. A vehicle perception range determination apparatus characterized by comprising: include: at least one processor; and a memory connected with the at least one processor in communication; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to: obtain vehicle position information and driving reference line information of a target vehicle; the driving reference line information is used to guide the target vehicle to drive along a to-be-driven path from a vehicle position corresponding to the vehicle position information; determine a first sensing range of the target vehicle along the to-be-driven path according to the vehicle position information and the driving reference line information; if a target road section in the to-be-driven path contains an intersection point, determine a second sensing range of the target vehicle based on position information of the intersection point; merge the first sensing range and the second sensing range to obtain a vehicle sensing range of the target vehicle; before the merging of the first sensing range and the second sensing range to obtain the vehicle sensing range of the target vehicle, further includes: determine whether a traffic abnormal event affecting the driving of the target vehicle occurs in the first sensing range, and obtain a second determining result; if the second determining result indicates that the traffic abnormal event affecting the driving of the target vehicle occurs in the first sensing range, obtain an influence range of the traffic abnormal event; the merging of the first sensing range and the second sensing range to obtain the vehicle sensing range of the target vehicle specifically includes: merge the first sensing range, the second sensing range and the influence range to obtain the vehicle sensing range of the target vehicle; after the obtaining of the influence range of the traffic abnormal event, further includes: determine whether the target vehicle is located in the influence range, and obtain a third determining result; The merging of the first perception range, the second perception range and the influence range obtains the vehicle perception range of the target vehicle, and specifically comprises: If the third judgment result indicates that the target vehicle is located within the influence range, the first perception range, the second perception range and the influence range are merged to obtain the vehicle perception range of the target vehicle; If the third judgment result indicates that the target vehicle is located outside the influence range, the first perception range and the second perception range are merged to obtain the vehicle perception range of the target vehicle.

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