A method, apparatus, electronic device, and storage medium for identifying a target vehicle.

Abstract

This application discloses a target vehicle determination method, apparatus, electronic device, and computer-readable storage medium, applied to a first vehicle. The method includes: determining a second vehicle located in front of the first vehicle; calculating a first angle between a first line connecting the first taillight of the second vehicle and a preset position of the front of the first vehicle and the longitudinal direction of the first vehicle, and a second angle between a second line connecting the second taillight of the second vehicle and the preset position of the front of the first vehicle and the longitudinal direction of the first vehicle; calculating a third angle between a third line connecting a target lane point and a preset position of the front of the first vehicle and the longitudinal direction of the first vehicle; calculating the overlap rate between the second vehicle and the driving lane based on the first, second, and third angles; and selecting the target vehicle for the first vehicle during adaptive cruise control based on the overlap rate. This application enables timely and accurate selection of the target vehicle during adaptive cruise control.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and more specifically, to a method and apparatus for determining a target vehicle, an electronic device, and a computer-readable storage medium. Background Technology

[0002] Advanced Driving Assistance Systems (ADAS) are a key technology for vehicle intelligence. Vehicles equipped with this technology can assist the driver by using their own sensors and can ensure driving safety as much as possible in situations such as driver fatigue, inattention, and dangerous conditions.

[0003] With the continuous development of ADAS, users have placed higher demands on its comprehensiveness, timeliness, and stability. During Adaptive Cruise Control (ACC), users require performance that is more aligned with the driver's driving habits while ensuring safety. TOS (target object selection) can be understood as selecting a target vehicle in front of the current target vehicle. Timely target vehicle selection helps ACC make control earlier, ensuring driving safety, and accurate target vehicle selection can improve the comfort of ACC performance.

[0004] Therefore, how to select the target vehicle in a timely and accurate manner during adaptive cruise control is a technical problem that needs to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this application is to provide a target vehicle determination method, device, electronic device, and computer-readable storage medium, which enables timely and accurate selection of target vehicles during adaptive cruise control.

[0006] To achieve the above objectives, this application provides a target vehicle determination method, applied to a first vehicle, the method comprising:

[0007] Identify the second vehicle located in front of the first vehicle;

[0008] Calculate the first angle between the first taillight of the second vehicle and the first line connecting the first position of the front of the first vehicle and the longitudinal direction of the first vehicle, and the second angle between the second taillight of the second vehicle and the second line connecting the second position of the front of the first vehicle and the longitudinal direction of the first vehicle.

[0009] Calculate the third angle between the target lane point on the lane line on the side where the second vehicle is located in the driving lane of the first vehicle, the third line connecting the preset position of the front of the first vehicle, and the longitudinal direction of the first vehicle; wherein, the target lane point is the intersection point between the rear direction of the second vehicle and the lane line on the side where the second vehicle is located.

[0010] The overlap rate between the second vehicle and the driving lane is calculated based on the first included angle, the second included angle, and the third included angle.

[0011] The first vehicle is selected as the target vehicle during the adaptive cruise control process based on the overlap rate.

[0012] The calculation of the first angle between the first taillight of the second vehicle and the first predetermined position of the front of the first vehicle and the longitudinal direction of the first vehicle, and the second angle between the second taillight of the second vehicle and the second predetermined position of the front of the first vehicle and the longitudinal direction of the first vehicle, includes:

[0013] Obtain the first lateral distance and the first longitudinal distance between the first taillight of the second vehicle and the preset position of the front of the first vehicle, and calculate the first angle between the first line connecting the first taillight of the second vehicle and the preset position of the front of the first vehicle and the longitudinal direction of the first vehicle based on the first lateral distance and the first longitudinal distance.

[0014] Obtain the second lateral distance and the second longitudinal distance between the second taillight of the second vehicle and the preset position of the front of the first vehicle. Based on the second lateral distance and the second longitudinal distance, calculate the second angle between the second line connecting the second taillight of the second vehicle and the preset position of the front of the first vehicle and the longitudinal direction of the first vehicle.

[0015] The calculation of the third angle between the target lane point on the lane line on the side where the second vehicle is located in the driving lane of the first vehicle, and the third line connecting the preset position of the front of the first vehicle and the longitudinal direction of the first vehicle includes:

[0016] If the lane line of the first vehicle's driving lane is valid, then the intersection point between the rear direction of the second vehicle and the lane line is determined as the target lane point, and the third angle between the third line connecting the target lane point and the preset position of the front of the first vehicle and the longitudinal direction of the first vehicle is calculated.

[0017] If the lane line of the first vehicle's driving lane is invalid, a virtual lane line is created on the side where the second vehicle is located based on the first vehicle's trajectory and width information. The intersection point between the rear direction of the second vehicle and the virtual lane line is determined as the target lane point. The third angle between the third line connecting the target lane point and the preset position of the front of the first vehicle and the longitudinal direction of the first vehicle is calculated.

[0018] The step of calculating the overlap rate between the second vehicle and the driving lane based on the first included angle, the second included angle, and the third included angle includes:

[0019] Calculate the first difference between the second included angle and the first included angle, and calculate the second difference between the third included angle and the first included angle;

[0020] The ratio between the second difference and the first difference is determined as the overlap rate between the second vehicle and the driving lane.

[0021] The step of selecting the target vehicle of the first vehicle during adaptive cruise control based on the overlap rate includes:

[0022] The second vehicle whose overlap rate is within a preset range is identified as a candidate target vehicle; wherein, the preset range is greater than 0 and less than 1;

[0023] If the overlap rate corresponding to the candidate target vehicle continues to exceed a preset time within the preset range, then the candidate target vehicle is selected as the target vehicle of the first vehicle during the adaptive cruise control process.

[0024] The step of selecting the target vehicle of the first vehicle during adaptive cruise control based on the overlap rate includes:

[0025] The second vehicle with an overlap rate greater than or equal to 1 is selected as the target vehicle of the first vehicle during the adaptive cruise control process.

[0026] The method further includes, after calculating the overlap rate between the second vehicle and the driving lane based on the first included angle, the second included angle, and the third included angle:

[0027] The calculated overlap rate between the second vehicle and the driving lane is low-pass filtered based on the same historical overlap rate of the second vehicle.

[0028] To achieve the above objectives, this application provides a target vehicle identification device, applied to a first vehicle, the device comprising:

[0029] A determination module is used to determine a second vehicle located in front of the first vehicle;

[0030] The first calculation module is used to calculate the first angle between the first taillight of the second vehicle and the first line connecting the first position of the front of the first vehicle and the longitudinal direction of the first vehicle, and the second angle between the second taillight of the second vehicle and the second line connecting the second position of the front of the first vehicle and the longitudinal direction of the first vehicle.

[0031] The second calculation module is used to calculate the third angle between the target lane point on the lane line on the side where the second vehicle is located in the driving lane of the first vehicle, the third line connecting the third line connecting the preset position of the front of the first vehicle and the longitudinal direction of the first vehicle; wherein, the target lane point is the intersection point between the rear direction of the second vehicle and the lane line on the side where the second vehicle is located.

[0032] The third calculation module is used to calculate the overlap rate between the second vehicle and the driving lane based on the first included angle, the second included angle and the third included angle;

[0033] The selection module is used to select the target vehicle of the first vehicle during the adaptive cruise control process based on the overlap rate.

[0034] To achieve the above objectives, this application provides an electronic device, comprising:

[0035] Memory, used to store computer programs;

[0036] A processor is used to implement the steps of the target vehicle determination method described above when executing the computer program.

[0037] To achieve the above objectives, this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the target vehicle determination method described above.

[0038] As can be seen from the above scheme, the target vehicle determination method provided in this application is applied to a first vehicle. The method includes: determining a second vehicle located in front of the first vehicle; calculating a first angle between the first taillight of the second vehicle and a first line connecting the first vehicle's front to a preset position and the longitudinal direction of the first vehicle, and a second angle between the second taillight of the second vehicle and a second line connecting the first vehicle's front to a preset position and the longitudinal direction of the first vehicle; calculating a third angle between a target lane point on the lane line in the direction of the second vehicle and a third line connecting the first vehicle's front to a preset position and the longitudinal direction of the first vehicle; wherein, the target lane point is the intersection of the rear direction of the second vehicle and the lane line in the direction of the second vehicle; calculating the overlap rate between the second vehicle and the lane based on the first angle, the second angle, and the third angle; and selecting the target vehicle of the first vehicle during adaptive cruise control based on the overlap rate.

[0039] The target vehicle determination method provided in this application allows the first vehicle to select a target vehicle from among the second vehicles during adaptive cruise control, based on the overlap rate between the second vehicle ahead and the first vehicle's lane. This means that any second vehicle overlapping with the first vehicle's lane can be considered the target vehicle, including vehicles merging from adjacent lanes or vehicles driving over lane lines. This timely and accurate selection of the target vehicle enables adaptive cruise control to take control of the first vehicle earlier, such as performing deceleration planning, to avoid collision risks and ensure driving safety. This application also discloses a target vehicle determination device, an electronic device, and a computer-readable storage medium, which can achieve the same technical effects.

[0040] It should be understood that the above general description and the following detailed description are merely exemplary and do not limit this application. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, 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 this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. The drawings are used to provide a further understanding of this disclosure and constitute a part of the specification. They are used together with the following detailed description to explain this disclosure, but do not constitute a limitation of this disclosure. In the drawings:

[0042] Figure 1 This is a flowchart illustrating a target vehicle determination method according to an exemplary embodiment;

[0043] Figure 2 This is a schematic diagram illustrating a second vehicle outside the driving lane of a first vehicle according to an exemplary embodiment;

[0044] Figure 3 This is a schematic diagram illustrating a second vehicle just crossing the line according to an exemplary embodiment;

[0045] Figure 4 This is a schematic diagram illustrating a second vehicle traveling on a lane according to an exemplary embodiment;

[0046] Figure 5 This is a schematic diagram illustrating, according to an exemplary embodiment, a second vehicle just fully entering the driving lane of a first vehicle;

[0047] Figure 6 This is a schematic diagram illustrating a second vehicle within the driving lane of a first vehicle according to an exemplary embodiment.

[0048] Figure 7 This is a structural diagram illustrating a target vehicle determining device according to an exemplary embodiment;

[0049] Figure 8 This is a structural diagram of an electronic device according to an exemplary embodiment. Detailed Implementation

[0050] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. Furthermore, in the embodiments of this application, "first," "second," etc., are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0051] This application discloses a target vehicle determination method, which enables timely and accurate selection of target vehicles during adaptive cruise control.

[0052] See Figure 1 A flowchart illustrating a target vehicle determination method according to an exemplary embodiment is shown below. Figure 1 As shown, it includes:

[0053] S101: Identify the second vehicle located in front of the first vehicle;

[0054] In this embodiment, the execution subject is the first vehicle. During the adaptive cruise control process, a second vehicle located in front of the first vehicle is determined. The number of second vehicles is not limited here. Any vehicle located in front of the first vehicle that can be captured by the camera device of the first vehicle can be used as a second vehicle. The purpose of this embodiment is to select the target vehicle from one or more second vehicles.

[0055] S102: Calculate the first angle between the first taillight of the second vehicle and the first line connecting the first position of the front of the first vehicle and the longitudinal direction of the first vehicle, and the second angle between the second taillight of the second vehicle and the second line connecting the second position of the front of the first vehicle and the longitudinal direction of the first vehicle.

[0056] In this step, such as Figure 2 As shown, the origin of the coordinate axis is the preset position of the front of the first vehicle, such as the center point of the front bumper. The X-axis represents the longitudinal direction of the first vehicle, and the Y-axis represents the lateral direction. In this embodiment, the first taillight can be the left taillight, and the second taillight can be the right taillight. In a specific implementation, the first angle α between the first line connecting the first taillight of the second vehicle and the preset position of the front of the first vehicle and the X-axis is calculated. l The second line connecting the second taillight of the second vehicle and the second pre-set position of the front of the first vehicle forms a second angle α with the X-axis. r .

[0057] As a feasible implementation, calculating the first angle between the first line connecting the first taillight of the second vehicle and the first predetermined position of the front of the first vehicle and the longitudinal direction of the first vehicle, and the second angle between the second line connecting the second taillight of the second vehicle and the second predetermined position of the front of the first vehicle and the longitudinal direction of the first vehicle, includes: obtaining a first lateral distance and a first longitudinal distance between the first taillight of the second vehicle and the predetermined position of the front of the first vehicle; calculating the first angle between the first line connecting the first taillight of the second vehicle and the first predetermined position of the front of the first vehicle and the longitudinal direction of the first vehicle based on the first lateral distance and the first longitudinal distance; obtaining a second lateral distance and a second longitudinal distance between the second taillight of the second vehicle and the predetermined position of the front of the first vehicle; and calculating the second angle between the second line connecting the second taillight of the second vehicle and the predetermined position of the front of the first vehicle and the longitudinal direction of the first vehicle based on the second lateral distance and the second longitudinal distance.

[0058] In specific implementation, based on the first lateral distance y between the first taillight of the second vehicle and the preset position of the front of the first vehicle... l and the first longitudinal distance x lCalculate the first angle α between the first taillight of the second vehicle and the first line connecting the first position of the front of the first vehicle to the first line and the X-axis. l =tan -1 (y l / x l Based on the second lateral distance y between the second taillight of the second vehicle and the preset position of the front of the first vehicle, r Second longitudinal distance x r Calculate the second angle α between the second taillight of the second vehicle and the second line connecting the second taillight of the second vehicle to the preset position of the front of the first vehicle and the X-axis. r =tan -1 (y r / x r ).

[0059] S103: Calculate the third angle between the target lane point on the lane line on the side where the second vehicle is located in the driving lane of the first vehicle, the third line connecting the preset position of the front of the first vehicle, and the longitudinal direction of the first vehicle; wherein, the target lane point is the intersection point between the rear direction of the second vehicle and the lane line on the side where the second vehicle is located.

[0060] In this step, the lane markings on the side of the first vehicle's driving lane, in the direction the second vehicle is located, are determined, for example, in... Figure 2 As shown, the second vehicle is located to the right front of the first vehicle, therefore the determined lane line is the right lane line of the driving lane. Further, the intersection point between the rear direction of the second vehicle and the lane line is determined as the target lane point. Here, the rear direction can be the direction of the rear bumper. The third angle β between the third line connecting the target lane point and the preset position of the front of the first vehicle and the X-axis is calculated.

[0061] As a feasible implementation, calculating the third angle between the target lane point on the lane line on the side where the second vehicle is located in the driving lane of the first vehicle, and the third line connecting the preset position of the front of the first vehicle and the longitudinal direction of the first vehicle includes: if the lane line of the driving lane of the first vehicle is valid, then determining the intersection point between the rear direction of the second vehicle and the lane line as the target lane point, and calculating the third angle between the target lane point and the preset position of the front of the first vehicle and the longitudinal direction of the first vehicle; if the lane line of the driving lane of the first vehicle is invalid, then creating a virtual lane line on the side where the second vehicle is located based on the driving trajectory and width information of the first vehicle, determining the intersection point between the rear direction of the second vehicle and the virtual lane line as the target lane point, and calculating the third angle between the target lane point and the preset position of the front of the first vehicle and the longitudinal direction of the first vehicle.

[0062] In practice, if the lane lines of the first vehicle's driving lane are valid, the intersection point between the rear of the second vehicle and the lane lines is determined as the target lane point, and the lateral distance y between the target lane point and the preset position of the front of the first vehicle is obtained. lane and vertical distance x lane Therefore, the third angle β = tan tan θ between the third line connecting the target lane point and the preset position of the front of the first vehicle and the X-axis is calculated. -1 (y lane / x lane If the lane lines of the first vehicle's driving lane are invalid, with the first vehicle's trajectory as the center and its width as the reference, the width of the first vehicle and a threshold are added to both sides of the first vehicle's trajectory. Here, it can be assumed that the first vehicle is driving in the center of the driving lane. The threshold is set with reference to the normal lane width to create a virtual lane line. The intersection of the second vehicle's rear direction and the virtual lane line is determined as the target lane point. Then, the third angle between the third line connecting the target lane point and the preset position of the first vehicle's front and the X-axis is calculated.

[0063] S104: Calculate the overlap rate between the second vehicle and the driving lane based on the first included angle, the second included angle, and the third included angle;

[0064] In this step, the overlap rate of the driving lanes of the second vehicle and the first vehicle is calculated based on the first included angle, the second included angle, and the third included angle.

[0065] As a feasible implementation, the step of calculating the overlap rate between the second vehicle and the driving lane based on the first included angle, the second included angle, and the third included angle includes: calculating a first difference between the second included angle and the first included angle, calculating a second difference between the third included angle and the first included angle, and determining the ratio between the second difference and the first difference as the overlap rate between the second vehicle and the driving lane.

[0066] In practice, the angle between the second taillight on the left of the second vehicle is calculated, which is the first difference α between the second angle and the first angle. r -α l Calculate the second difference between the third included angle and the first included angle, Δ = β - α. l The overlap rate p between the driving lanes of the second vehicle and the first vehicle overlap =△ / α.

[0067] In a preferred embodiment, after calculating the overlap rate between the second vehicle and the driving lane based on the first included angle, the second included angle, and the third included angle, the method further includes: performing low-pass filtering on the calculated overlap rate between the second vehicle and the driving lane based on the historical overlap rate of the same second vehicle.

[0068] In practice, for the same second vehicle, the historical overlap rate is taken into account. and the current overlap rate p overlap Use low-pass filtering to apply to the current overlap rate p overlap Update the current overlap rate. Where θ represents the relevant parameters of the low-pass filter.

[0069] S105: Select the target vehicle of the first vehicle during the adaptive cruise control process based on the overlap rate.

[0070] In this step, the target vehicle is selected based on the overlap rate between the driving lanes of the second vehicle and the first vehicle.

[0071] In specific implementation, such as Figure 2 As shown, when the second vehicle is outside the lane of the first vehicle, Δ<0, p overlap <0. Therefore, when p overlap A value less than 0 indicates that the second vehicle is outside the lane where the first vehicle is traveling, and in this case, the second vehicle should not be selected as the target vehicle.

[0072] like Figure 3 As shown, when the second vehicle is just crossing the line, Δ = 0, p overlap =0. Therefore, when p overlap When the value is 0, the second vehicle should not be selected as the target vehicle.

[0073] like Figure 4 As shown, when the second vehicle is traveling on the line, 0 < Δ < α, 0 <p overlap <1. Based on the overlap rate updated by the low-pass filter, when the second vehicle continues to drive on the lane line for a preset time, the second vehicle is selected as the target vehicle. That is, the step of selecting the target vehicle for the first vehicle during adaptive cruise control based on the overlap rate includes: determining the second vehicle whose overlap rate is within a preset range as a candidate target vehicle; wherein, the preset range is greater than 0 and less than 1; if the overlap rate corresponding to the candidate target vehicle continues to exceed a preset time within the preset range, then the candidate target vehicle is selected as the target vehicle for the first vehicle during adaptive cruise control.

[0074] like Figure 5 As shown, when the second vehicle has just completely entered the lane of the first vehicle, Δ = α, p overlap =1, meaning if the overlap rate of the low-pass filter update is 1, then the second vehicle is selected as the target vehicle. It can be seen that for the moving second vehicle, during the process of the second vehicle moving from the adjacent lane to the first vehicle's driving lane, upon reaching... Figure 5The vehicle in front of the indicated position will be selected as the target vehicle. For a stationary second vehicle, the system will detect that the second vehicle is in the position shown. Figure 5 When the location is selected, it will also be selected as the target vehicle.

[0075] like Figure 6 As shown, when the second vehicle is in the lane where the first vehicle is traveling, Δ>α, p overlap >1, at this point, the second vehicle is selected as the target vehicle.

[0076] That is, the step of selecting the target vehicle of the first vehicle in the adaptive cruise control process based on the overlap rate includes: selecting a second vehicle with an overlap rate greater than or equal to 1 as the target vehicle of the first vehicle in the adaptive cruise control process.

[0077] As can be seen, for a second vehicle merging into a driving lane from an adjacent lane, this embodiment can reach, for example, Figure 5 The vehicle at the indicated position is selected as the target vehicle. At an earlier point, the second vehicle merging into the driving lane is also selected as the target vehicle, allowing ACC to plan deceleration earlier and avoid collision risks. For a second vehicle that has stopped over the lane line, this embodiment can select it as the target vehicle, allowing ACC to control the vehicle earlier and ensure driving safety. For a slowly moving vehicle that has crossed the lane line, this embodiment can select it as the target vehicle, allowing ACC to control the vehicle earlier and ensure driving safety. For a normally moving vehicle that has crossed the lane line, this embodiment can select it as the target vehicle, allowing ACC to control the vehicle earlier when it decelerates, ensuring driving safety.

[0078] The target vehicle determination method provided in this application embodiment allows the first vehicle to select a target vehicle from the second vehicles during adaptive cruise control based on the overlap rate between the second vehicle ahead and the driving lane of the first vehicle. That is, the second vehicle that overlaps with the driving lane of the first vehicle can be used as the target vehicle, including the second vehicle merging into the driving lane from the adjacent lane, the second vehicle driving on the line in the driving lane, etc. The target vehicle can be selected in a timely and accurate manner, so that the adaptive cruise control can control the first vehicle earlier, such as performing deceleration planning, to avoid collision risks and ensure driving safety.

[0079] The following describes a target vehicle determination device provided in an embodiment of this application. The target vehicle determination device described below and the target vehicle determination method described above can be referred to each other.

[0080] See Figure 7 A structural diagram of a target vehicle determining device is shown according to an exemplary embodiment, as follows: Figure 7 As shown, it includes:

[0081] The determination module 701 is used to determine the second vehicle located in front of the first vehicle;

[0082] The first calculation module 702 is used to calculate the first angle between the first taillight of the second vehicle and the first line connecting the first position of the front of the first vehicle and the longitudinal direction of the first vehicle, and the second angle between the second taillight of the second vehicle and the second line connecting the second position of the front of the first vehicle and the longitudinal direction of the first vehicle.

[0083] The second calculation module 703 is used to calculate the third angle between the target lane point on the lane line on the side where the second vehicle is located in the driving lane of the first vehicle and the third line connecting the third line connecting the preset position of the front of the first vehicle and the longitudinal direction of the first vehicle; wherein, the target lane point is the intersection point between the rear direction of the second vehicle and the lane line on the side where the second vehicle is located.

[0084] The third calculation module 704 is used to calculate the overlap rate between the second vehicle and the driving lane based on the first included angle, the second included angle and the third included angle;

[0085] Selection module 705 is used to select the target vehicle of the first vehicle during the adaptive cruise control process based on the overlap rate.

[0086] The target vehicle determination device provided in this application embodiment allows the first vehicle to select a target vehicle from the second vehicles during adaptive cruise control based on the overlap rate between the second vehicle ahead and the driving lane of the first vehicle. That is, the second vehicle that overlaps with the driving lane of the first vehicle can be used as the target vehicle, including the second vehicle merging into the driving lane from the adjacent lane, the second vehicle driving on the line in the driving lane, etc. The target vehicle can be selected in a timely and accurate manner, so that the adaptive cruise control can control the first vehicle earlier, such as performing deceleration planning, to avoid collision risks and ensure driving safety.

[0087] Based on the above embodiments, as a preferred implementation, the first calculation module 702 is specifically used to: obtain a first lateral distance and a first longitudinal distance between the first taillight of the second vehicle and a preset position of the front of the first vehicle; calculate a first angle between the first line connecting the first taillight of the second vehicle and the preset position of the front of the first vehicle and the longitudinal direction of the first vehicle based on the first lateral distance and the first longitudinal distance; obtain a second lateral distance and a second longitudinal distance between the second taillight of the second vehicle and the preset position of the front of the first vehicle; calculate a second angle between the second line connecting the second taillight of the second vehicle and the preset position of the front of the first vehicle and the longitudinal direction of the first vehicle based on the second lateral distance and the second longitudinal distance.

[0088] Based on the above embodiments, as a preferred implementation, the second calculation module 703 is specifically used for: if the lane line of the first vehicle's driving lane is valid, then determining the intersection point between the rear direction of the second vehicle and the lane line as the target lane point, and calculating the third angle between the target lane point and the third line connecting the preset position of the front of the first vehicle and the longitudinal direction of the first vehicle; if the lane line of the first vehicle's driving lane is invalid, then creating a virtual lane line on the side where the second vehicle is located based on the first vehicle's trajectory and width information, determining the intersection point between the rear direction of the second vehicle and the virtual lane line as the target lane point, and calculating the third angle between the target lane point and the preset position of the front of the first vehicle and the longitudinal direction of the first vehicle.

[0089] Based on the above embodiments, as a preferred implementation, the third calculation module 704 is specifically used to: calculate the first difference between the second included angle and the first included angle, calculate the second difference between the third included angle and the first included angle, and determine the ratio between the second difference and the first difference as the overlap rate between the second vehicle and the driving lane.

[0090] Based on the above embodiments, as a preferred implementation, the selection module 705 is specifically used to: determine the second vehicle whose overlap rate is within a preset range as a candidate target vehicle; wherein, the preset range is greater than 0 and less than 1; if the overlap rate corresponding to the candidate target vehicle continues to exceed a preset time within the preset range, then select the candidate target vehicle as the target vehicle of the first vehicle in the adaptive cruise control process.

[0091] Based on the above embodiments, as a preferred implementation, the selection module 705 is specifically used to: select the second vehicle with an overlap rate greater than or equal to 1 as the target vehicle of the first vehicle in the adaptive cruise control process.

[0092] Based on the above embodiments, as a preferred embodiment, it further includes:

[0093] The processing module is used to perform low-pass filtering on the calculated overlap rate between the second vehicle and the driving lane based on the same historical overlap rate of the second vehicle.

[0094] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0095] Based on the hardware implementation of the above program modules, and in order to implement the method of the embodiments of this application, the embodiments of this application also provide an electronic device. Figure 8 This is a structural diagram of an electronic device according to an exemplary embodiment, such as... Figure 8 As shown, the electronic device includes:

[0096] Communication interface 1 enables information exchange with other devices, such as network devices;

[0097] Processor 2 is connected to communication interface 1 to enable information exchange with other devices. When running a computer program, it executes the target vehicle determination method provided by one or more of the above-mentioned technical solutions. The computer program is stored in memory 3.

[0098] Of course, in practical applications, the various components in an electronic device are coupled together through bus system 4. It can be understood that bus system 4 is used to achieve communication and connection between these components. In addition to the data bus, bus system 4 also includes a power bus, a control bus, and a status signal bus. However, for clarity, in... Figure 8 The general will label all buses as Bus System 4.

[0099] The memory 3 in this embodiment is used to store various types of data to support the operation of the electronic device. Examples of such data include any computer program used to operate on the electronic device.

[0100] It is understood that memory 3 can be volatile memory or non-volatile memory, or both. Non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), ferromagnetic random access memory (FRAM), flash memory, magnetic surface memory, optical disc, or compact disc read-only memory (CD-ROM); magnetic surface memory can be disk storage or magnetic tape storage. Volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), SyncLink Dynamic Random Access Memory (SLDRAM), and Direct Rambus Random Access Memory (DRRAM).The memory 3 described in the embodiments of this application is intended to include, but is not limited to, these and any other suitable types of memory.

[0101] The methods disclosed in the embodiments of this application can be applied to processor 2, or implemented by processor 2. Processor 2 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the integrated logic circuit of the hardware in processor 2 or by instructions in the form of software. The processor 2 may be a general-purpose processor, DSP, or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Processor 2 can implement or execute the methods, steps and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the methods disclosed in the embodiments of this application can be directly manifested as being executed by a hardware decoding processor, or being executed by a combination of hardware and software modules in the decoding processor. The software modules may be located in a storage medium, which is located in memory 3. Processor 2 reads the program in memory 3 and completes the steps of the aforementioned method in combination with its hardware.

[0102] When processor 2 executes the program, it implements the corresponding processes in the various methods of the embodiments of this application. For the sake of brevity, these will not be described in detail here.

[0103] In an exemplary embodiment, this application also provides a storage medium, namely a computer storage medium, specifically a computer-readable storage medium, such as a memory 3 that stores a computer program, which can be executed by a processor 2 to complete the steps described in the aforementioned method. The computer-readable storage medium may be a memory such as FRAM, ROM, PROM, EPROM, EEPROM, Flash Memory, magnetic surface memory, optical disc, or CD-ROM.

[0104] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media that can store program code, such as mobile storage devices, ROM, RAM, magnetic disks, or optical disks.

[0105] Alternatively, if the integrated units described above are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the embodiments of this application, or the parts that contribute to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause an electronic device (which may be a personal computer, server, network device, etc.) to execute all or part of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, ROM, RAM, magnetic disks, or optical disks.

[0106] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for determining a target vehicle, characterized in that, Applied to a first vehicle, the method includes: Identify the second vehicle located in front of the first vehicle; Calculate the first angle between the first taillight of the second vehicle and the first line connecting the first position of the front of the first vehicle and the longitudinal direction of the first vehicle, and the second angle between the second taillight of the second vehicle and the second line connecting the second position of the front of the first vehicle and the longitudinal direction of the first vehicle. Calculate the third angle between the target lane point on the lane line on the side where the second vehicle is located in the driving lane of the first vehicle, the third line connecting the preset position of the front of the first vehicle, and the longitudinal direction of the first vehicle; wherein, the target lane point is the intersection point between the rear direction of the second vehicle and the lane line on the side where the second vehicle is located. The overlap rate between the second vehicle and the driving lane is calculated based on the first included angle, the second included angle, and the third included angle. The first vehicle is selected as the target vehicle during the adaptive cruise control process based on the overlap rate.

2. The target vehicle determination method according to claim 1, characterized in that, The calculation of the first angle between the first taillight of the second vehicle and the first line connecting the first position of the front of the first vehicle and the longitudinal direction of the first vehicle, and the second angle between the second taillight of the second vehicle and the second line connecting the second position of the second taillight of the second vehicle and the second line connecting the second position of the front of the first vehicle and the longitudinal direction of the first vehicle, includes: Obtain the first lateral distance and the first longitudinal distance between the first taillight of the second vehicle and the preset position of the front of the first vehicle, and calculate the first angle between the first line connecting the first taillight of the second vehicle and the preset position of the front of the first vehicle and the longitudinal direction of the first vehicle based on the first lateral distance and the first longitudinal distance. Obtain the second lateral distance and the second longitudinal distance between the second taillight of the second vehicle and the preset position of the front of the first vehicle. Based on the second lateral distance and the second longitudinal distance, calculate the second angle between the second line connecting the second taillight of the second vehicle and the preset position of the front of the first vehicle and the longitudinal direction of the first vehicle.

3. The target vehicle determination method according to claim 1, characterized in that, The calculation of the third angle between the target lane point on the lane line on the side where the second vehicle is located in the driving lane of the first vehicle, and the third line connecting the preset position of the front of the first vehicle and the longitudinal direction of the first vehicle includes: If the lane line of the first vehicle's driving lane is valid, then the intersection point between the rear direction of the second vehicle and the lane line is determined as the target lane point, and the third angle between the third line connecting the target lane point and the preset position of the front of the first vehicle and the longitudinal direction of the first vehicle is calculated. If the lane line of the first vehicle's driving lane is invalid, a virtual lane line is created on the side where the second vehicle is located based on the first vehicle's trajectory and width information. The intersection point between the rear direction of the second vehicle and the virtual lane line is determined as the target lane point. The third angle between the third line connecting the target lane point and the preset position of the front of the first vehicle and the longitudinal direction of the first vehicle is calculated.

4. The target vehicle determination method according to claim 1, characterized in that, The step of calculating the overlap rate between the second vehicle and the driving lane based on the first included angle, the second included angle, and the third included angle includes: Calculate the first difference between the second included angle and the first included angle, and calculate the second difference between the third included angle and the first included angle; The ratio between the second difference and the first difference is determined as the overlap rate between the second vehicle and the driving lane.

5. The target vehicle determination method according to claim 1, characterized in that, The step of selecting the target vehicle for the first vehicle during adaptive cruise control based on the overlap rate includes: The second vehicle whose overlap rate is within a preset range is identified as a candidate target vehicle; wherein, the preset range is greater than 0 and less than 1; If the overlap rate corresponding to the candidate target vehicle continues to exceed a preset time within the preset range, then the candidate target vehicle is selected as the target vehicle of the first vehicle during the adaptive cruise control process.

6. The target vehicle determination method according to claim 1, characterized in that, The step of selecting the target vehicle for the first vehicle during adaptive cruise control based on the overlap rate includes: The second vehicle with an overlap rate greater than or equal to 1 is selected as the target vehicle of the first vehicle during the adaptive cruise control process.

7. The target vehicle determination method according to claim 1, characterized in that, After calculating the overlap rate between the second vehicle and the driving lane based on the first included angle, the second included angle, and the third included angle, the method further includes: The calculated overlap rate between the second vehicle and the driving lane is low-pass filtered based on the same historical overlap rate of the second vehicle.

8. A target vehicle identification device, characterized in that, Applied to a first vehicle, the device includes: A determination module is used to determine a second vehicle located in front of the first vehicle; The first calculation module is used to calculate the first angle between the first taillight of the second vehicle and the first line connecting the first position of the front of the first vehicle and the longitudinal direction of the first vehicle, and the second angle between the second taillight of the second vehicle and the second line connecting the second position of the front of the first vehicle and the longitudinal direction of the first vehicle. The second calculation module is used to calculate the third angle between the target lane point on the lane line on the side where the second vehicle is located in the driving lane of the first vehicle, the third line connecting the third line connecting the preset position of the front of the first vehicle and the longitudinal direction of the first vehicle; wherein, the target lane point is the intersection point between the rear direction of the second vehicle and the lane line on the side where the second vehicle is located. The third calculation module is used to calculate the overlap rate between the second vehicle and the driving lane based on the first included angle, the second included angle and the third included angle; The selection module is used to select the target vehicle of the first vehicle during the adaptive cruise control process based on the overlap rate.

9. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor, configured to implement the steps of the target vehicle determination method as described in any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the target vehicle determination method as described in any one of claims 1 to 7.

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