Vehicle Interaction Determination Method, Device, Equipment and Medium

Abstract

The present application relates to a vehicle interaction determination method, apparatus, device and medium. The method includes: obtaining the status information of each vehicle, where each vehicle includes a target vehicle and all surrounding vehicles corresponding to the target vehicle; generating a dynamic area corresponding to each vehicle according to the status information of each vehicle; determining the interaction relationship between the target vehicle and all surrounding vehicles corresponding to the target vehicle according to the dynamic area corresponding to each vehicle; thereby, by considering the status information of each vehicle, a dynamic area describing the multi-vehicle interaction range is generated according to the status information, and interaction determination is performed according to the dynamic area, so as to improve the accuracy and rationality of the interaction determination result.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and particularly to a vehicle interaction determination method, device, equipment, and medium. Background Art

[0002] Currently, intelligent vehicle technology has become a research hotspot in academia and industry. When an intelligent vehicle is driving in complex traffic environments such as intersections and roundabouts with dense traffic flow, it is necessary to consider the possible interactive influences among multiple vehicles and effectively predict the future trajectories of each surrounding vehicle. For each predicted vehicle, reasonably and accurately determining whether its surrounding vehicles will have dynamic interactions with it is the key to improving the accuracy of trajectory prediction algorithms and saving computing resources.

[0003] In related technologies, vehicle interaction determination methods mainly rely on spatial grid division or Euclidean distance, which often ignore the specific state information of vehicles, easily resulting in an overly large range of interaction determination or assumption areas. As a result, subsequent trajectory prediction algorithms need to additionally process a large amount of unnecessary redundant data, not only causing a waste of computing resources but also affecting the accuracy of trajectory prediction. Summary of the Invention

[0004] This application provides a vehicle interaction determination method, device, equipment, and medium, which solves the problem in related technologies that due to ignoring the specific state information of vehicles, it is easy to lead to an overly large range of interaction determination or assumption areas, and further causes subsequent trajectory prediction algorithms to need to additionally process a large amount of unnecessary redundant data, not only wasting computing resources but also affecting the accuracy of trajectory prediction. By considering the state information of each vehicle, a dynamic area describing the interaction range of multiple vehicles is generated, so as to perform interaction determination based on the dynamic area, thereby improving the accuracy and rationality of the interaction determination result.

[0005] The first aspect of the embodiments of this application provides a vehicle interaction determination method, including the following steps: obtaining the state information of each vehicle, where each vehicle includes a target vehicle and all surrounding vehicles corresponding to the target vehicle; generating a dynamic area corresponding to each vehicle according to the state information of each vehicle; and determining the interaction relationship between the target vehicle and all surrounding vehicles corresponding to the target vehicle according to the dynamic area corresponding to each vehicle.

[0006] By the above technical means, the embodiments of this application obtain the state information of each vehicle to generate a dynamic area corresponding to each vehicle according to the state information of each vehicle; and determine the interaction relationship between the target vehicle and all surrounding vehicles corresponding to the target vehicle according to the dynamic area corresponding to each vehicle, thereby improving the accuracy and rationality of the multi-vehicle interaction determination result.

[0007] Further, the state information includes the vehicle body length, center position, speed, acceleration, heading, and heading change rate.

[0008] According to the above technical means, in complex traffic environments such as intersections and roundabouts with dense traffic flow, the position, speed, and heading information of each vehicle will change dynamically. Therefore, to improve the accuracy of the interaction determination result, it is necessary to comprehensively consider the state information of each vehicle, such as the vehicle body length, center position, speed, acceleration, heading, and heading change rate.

[0009] Further, a dynamic area corresponding to each vehicle is generated according to the state information of each vehicle, including: generating an initial sector area corresponding to each vehicle with the center position corresponding to each vehicle as the center of the circle, where the radius and central angle of the initial sector area are determined by the corresponding vehicle body length and speed, and the bisector of the sector angle of the initial sector area is oriented by the corresponding heading; obtaining the radius correction amount and central angle correction amount corresponding to each vehicle according to the acceleration and heading change rate corresponding to each vehicle; dynamically correcting the initial sector area corresponding to each vehicle according to the radius correction amount and central angle correction amount corresponding to each vehicle to obtain a dynamic sector area corresponding to each vehicle.

[0010] According to the above technical means, the dynamic sector area corresponding to each vehicle can be accurately obtained, and thus the interaction relationship between vehicles can be accurately judged according to the dynamic sector area.

[0011] Further, the radius and central angle of the initial sector area are obtained according to the following formula:

[0012]

[0013]

[0014] where is the radius of the initial sector area corresponding to the id-th vehicle, V id is the speed, T is the prediction time, γ is a constant, is the central angle of the initial sector area corresponding to the id-th vehicle, e is the Euler number, and π is the pi.

[0015] Further, the radius correction amount and central angle correction amount corresponding to each vehicle are obtained according to the following formula:

[0016]

[0017]

[0018] where is the radius correction amount corresponding to the id-th vehicle, A idis the acceleration, Y id is the rate of change of the course, is the correction amount of the central angle corresponding to the id-th vehicle.

[0019] According to the above technical means, the correction amount obtained through the above formula can dynamically correct the fan-shaped area that can describe the vehicle interaction range in real time, thereby further improving the accuracy of judging the interaction relationship between vehicles.

[0020] Further, according to the dynamic area corresponding to each vehicle, the interaction relationship between the target vehicle and all surrounding vehicles corresponding to the target vehicle is determined, including: judging whether there is an overlapping area between the dynamic area corresponding to the target vehicle and the dynamic area corresponding to each vehicle among all surrounding vehicles corresponding to the target vehicle; if there is an overlapping area between the dynamic area corresponding to the target vehicle and the dynamic area corresponding to a certain surrounding vehicle, it is judged that there is an interaction relationship between the target vehicle and the certain surrounding vehicle.

[0021] According to the above technical means, by whether there is an overlapping area between the dynamic areas, it can effectively judge whether there is an interaction between vehicles and avoid waste of computing resources in subsequent applications.

[0022] Further, the above vehicle interaction determination method further includes: when judging that there is an interaction relationship between the target vehicle and a certain surrounding vehicle, calculating the area of the overlapping area; judging whether it is necessary to carefully handle the interaction influence between the target vehicle and the certain surrounding vehicle according to the area of the overlapping area.

[0023] Further, judging whether it is necessary to carefully handle the interaction influence between the target vehicle and a certain surrounding vehicle according to the area of the overlapping area includes: comparing the sizes of the dynamic areas corresponding to the target vehicle and the certain surrounding vehicle to obtain the area of the smaller dynamic area; judging whether the area of the overlapping area is greater than where λ is a constant greater than 1; if so, it is necessary to carefully handle the interaction influence between the target vehicle and the certain surrounding vehicle, if not, it is not necessary to carefully handle the interaction influence between the target vehicle and the certain surrounding vehicle.

[0024] According to the above technical means, using the dynamic fan-shaped area can not only perform interaction determination, but also classify and process the interaction according to the size of the overlapping area. Therefore, when predicting the trajectories of multiple vehicles, different prediction models can be selected according to different classifications, which can not only reasonably allocate computing resources, further avoid the prediction algorithm from processing redundant data, improve the rationality of computing resource allocation, but also improve the prediction accuracy.

[0025] A second aspect embodiment of the present application provides a vehicle interaction determination device, including: an acquisition module, configured to acquire the status information of each vehicle, where each vehicle includes a target vehicle and all surrounding vehicles corresponding to the target vehicle; a generation module, configured to generate a dynamic area corresponding to each vehicle according to the status information of each vehicle; and a determination module, configured to determine the interaction relationship between the target vehicle and all surrounding vehicles corresponding to the target vehicle according to the dynamic area corresponding to each vehicle.

[0026] Further, the status information includes the body length, center position, speed, acceleration, heading, and heading change rate.

[0027] Further, the generation module is specifically configured to: generate an initial sector area corresponding to each vehicle with the center position of each vehicle as the center of the circle, where the radius and central angle of the initial sector area are determined by the corresponding body length and speed, and the sector angle bisector direction of the initial sector area is determined by the corresponding heading; obtain the radius correction amount and central angle correction amount corresponding to each vehicle according to the acceleration and heading change rate of each vehicle; and dynamically correct the initial sector area corresponding to each vehicle according to the radius correction amount and central angle correction amount corresponding to each vehicle to obtain the dynamic sector area corresponding to each vehicle.

[0028] Further, the radius and central angle of the initial sector area are obtained according to the following formula:

[0029]

[0030]

[0031] Where is the radius of the initial sector area corresponding to the id-th vehicle, V id is the speed, T is the prediction time, γ is a constant, is the central angle of the initial sector area corresponding to the id-th vehicle, e is the Euler number, and π is the pi.

[0032] Further, the radius correction amount and central angle correction amount corresponding to each vehicle are obtained according to the following formula:

[0033]

[0034]

[0035] Where is the radius correction amount corresponding to the id-th vehicle, A id is the acceleration, Y id is the heading change rate, is the correction amount of the central angle corresponding to the id-th vehicle.

[0036] Further, the determination module is specifically configured to: determine whether there is an overlapping area between the dynamic area corresponding to the target vehicle and the dynamic area corresponding to each vehicle among all the surrounding vehicles corresponding to the target vehicle; if there is an overlapping area between the dynamic area corresponding to the target vehicle and the dynamic area corresponding to a certain surrounding vehicle, determine that there is an interaction relationship between the target vehicle and the certain surrounding vehicle.

[0037] Further, the above vehicle interaction determination device further includes: a calculation module, configured to calculate the overlapping area when it is determined that there is an interaction relationship between the target vehicle and a certain surrounding vehicle; a judgment module, configured to determine whether it is necessary to carefully handle the interaction impact between the target vehicle and the certain surrounding vehicle according to the overlapping area.

[0038] Further, the judgment module is specifically configured to: compare the sizes of the dynamic area corresponding to the target vehicle and the dynamic area corresponding to a certain surrounding vehicle to obtain the smaller dynamic area; determine whether the overlapping area is greater than where λ is a constant greater than 1; if so, it is necessary to carefully handle the interaction impact between the target vehicle and the certain surrounding vehicle, if not, it is not necessary to carefully handle the interaction impact between the target vehicle and the certain surrounding vehicle.

[0039] An embodiment of the third aspect of the present application provides an electronic device, including: a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the program to implement the vehicle interaction determination method as described in the above embodiment.

[0040] An embodiment of the fourth aspect of the present application provides a computer-readable storage medium, where the computer-readable storage medium stores computer instructions, and the computer instructions are used to cause the computer to execute the vehicle interaction determination method as described in the above embodiment.

[0041] Embodiments of the present application can obtain the status information of each vehicle, so as to generate a dynamic area that can describe the interaction range corresponding to each vehicle according to the status information of each vehicle; determine the interaction relationship between the target vehicle and all surrounding vehicles corresponding to the target vehicle according to the dynamic area corresponding to each vehicle; thus, the problem in the related art that due to ignoring the specific status information of the vehicle, it is easy to cause the interaction determination or the assumed area range to be too large, and then the subsequent trajectory prediction algorithm needs to process a large amount of unnecessary redundant data, not only wasting computing resources, but also affecting the trajectory prediction accuracy is solved. By considering the status information of each vehicle, a dynamic area describing the multi-vehicle interaction range is generated, so as to perform interaction determination according to the dynamic area, thereby improving the accuracy and rationality of the interaction determination result.

[0042] Additional aspects and advantages of the present application will be given in part in the following description, become apparent in part from the following description, or be understood through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The above and / or additional aspects and advantages of the present application will become apparent and be readily understood from the following description of the embodiments in conjunction with the drawings, wherein:

[0044] Figure 1 is a flowchart of a vehicle interaction determination method according to an embodiment of the present application;

[0045] Figure 2 is a schematic diagram of a dynamic area according to an embodiment of the present application, wherein, (a) is a schematic diagram of an initial sector area, and (b) is a schematic diagram of each dynamic sector area under the conditions of the same speed, different accelerations and heading change rates;

[0046] Figure 3 is a schematic diagram of a vehicle interaction determination scenario according to an embodiment of the present application;

[0047] Figure 4 is a flowchart of a vehicle interaction determination method according to an embodiment of the present application;

[0048] Figure 5 is a block diagram of a vehicle interaction determination device according to an embodiment of the present application;

[0049] Figure 6 is an example diagram of an electronic device according to an embodiment of the present application.

[0050] Wherein, 10 - vehicle interaction determination device; 100 - acquisition module, 200 - generation module and 300 - determination module. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0051] Embodiments of the present application will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present application, and should not be construed as limiting the present application.

[0052] The vehicle interaction determination method, device, equipment, and medium according to the embodiments of the present application will be described below with reference to the accompanying drawings. Regarding the problem that the vehicle interaction determination method mentioned in the above background technology often ignores the specific state information of the vehicle, which easily leads to an overly large interaction determination or assumed area range, resulting in the subsequent trajectory prediction algorithm needing to additionally process a large amount of unnecessary redundant data, not only causing a waste of computing resources but also affecting the trajectory prediction accuracy, the present application provides a vehicle interaction determination method. In this method, the state information of each vehicle can be obtained to generate a dynamic area that can describe the interaction range corresponding to each vehicle according to the state information of each vehicle; the interaction relationship between the target vehicle and all surrounding vehicles corresponding to the target vehicle is determined according to the dynamic area corresponding to each vehicle; thereby, the problem in the related technology that due to ignoring the specific state information of the vehicle, it is easy to lead to an overly large interaction determination or assumed area range, and then the subsequent trajectory prediction algorithm needs to additionally process a large amount of unnecessary redundant data, not only causing a waste of computing resources but also affecting the trajectory prediction accuracy is solved. By considering the state information of each vehicle, a dynamic area describing the multi-vehicle interaction range is generated to perform interaction determination according to the dynamic area, thereby improving the accuracy and rationality of the interaction determination result.

[0053] Specifically, Figure 1 is a schematic flowchart of a vehicle interaction determination method provided by an embodiment of the present application.

[0054] As Figure 1 shown, the vehicle interaction determination method includes the following steps:

[0055] In step S101, the state information of each vehicle is obtained, where each vehicle includes the target vehicle and all surrounding vehicles corresponding to the target vehicle.

[0056] It should be noted that the target vehicle is an intelligent vehicle, and generally, the target vehicle and all surrounding vehicles corresponding to the target vehicle are in a driving state.

[0057] In some embodiments, various vehicle state sensors are installed on the target vehicle. For example, a vehicle speed sensor, a combined inertial navigation, etc. The state information of the target vehicle itself is obtained through various vehicle state sensors.

[0058] In some embodiments, the target vehicle detects and tracks all surrounding vehicles through a vision and lidar fusion-based environment perception system, assigns an ID number to all tracked surrounding vehicles, and obtains the status information corresponding to all surrounding vehicles.

[0059] It should be noted that the vision and lidar fusion-based environment perception system is an existing implementable technology, and will not be elaborated in this application.

[0060] In addition, it can be set to obtain the status information of each vehicle in real time, or a time threshold can be preset according to prior experience. For example, it can be set to obtain the information once every minute, or once every five minutes. This application does not make special limitations on this.

[0061] Furthermore, in some embodiments, the status information includes the vehicle body length L id , the central position P id , the speed V id , the acceleration A id , the heading H id and the heading change rate Y id .

[0062] It should be noted that it can be set that A id > 0 during acceleration, and A id < 0 during deceleration; Y id > 0 during a right turn, and Y id < 0 during a left turn.

[0063] In step S102, a dynamic area corresponding to each vehicle is generated according to the status information of each vehicle.

[0064] Furthermore, in some embodiments, generating a dynamic area corresponding to each vehicle according to the status information of each vehicle includes: generating an initial sector area corresponding to each vehicle with the central position corresponding to each vehicle as the center of the circle, where the radius and central angle of the initial sector area are determined by the corresponding vehicle body length and speed, and the sector angle bisector orientation of the initial sector area is determined by the corresponding heading; obtaining a radius correction amount and a central angle correction amount corresponding to each vehicle according to the acceleration and heading change rate corresponding to each vehicle; dynamically correcting the initial sector area corresponding to each vehicle according to the radius correction amount and central angle correction amount corresponding to each vehicle to obtain a dynamic sector area corresponding to each vehicle.

[0065] That is to say, each vehicle corresponds to status information, and a dynamic sector area corresponding to each vehicle can be obtained through the corresponding status information.

[0066] For example, taking the id-th vehicle as an example, the initial sector area corresponding to the id-th vehicle is calculated to represent its interaction range. Among them, the specific shape and size of the initial sector area are determined by the center of the circle, the orientation of the sector angle bisector, the radius, and the central angle. The center of the circle is the central position P corresponding to the id-th vehicle id , the orientation of the sector angle bisector is consistent with the heading H id , and the radius and the central angle are obtained through the following calculation formulas:

[0067]

[0068]

[0069] Among them, is the radius of the initial sector area corresponding to the id-th vehicle, V id is the speed, T is the prediction time, γ is a constant, is the central angle of the initial sector area corresponding to the id-th vehicle, e is the Euler number, and π is the pi.

[0070] As can be seen from the above, when the vehicle body length L id , the speed V id and the prediction time T are larger, the radius of the initial sector area is larger; when the speed V id is larger, the central angle of the initial sector area is smaller; when the vehicle is stationary, the initial sector area is a circular area.

[0071] In addition, as shown in (a) of Figure 2 , it is the obtained initial sector area. After obtaining the initial sector area, due to the possible changes in the acceleration A id and the heading change rate Y id , it is also necessary to obtain the corresponding correction amounts through the acceleration A id and the heading change rate Y id to correct the initial sector area.

[0072] As an embodiment, the radius correction amount and the central angle correction amount corresponding to the id-th vehicle are obtained through the following formulas:

[0073]

[0074]

[0075] Among them, is the radius correction amount corresponding to the id-th vehicle, A id is the acceleration, Y id is the heading change rate, is the central angle correction amount corresponding to the id-th vehicle.

[0076] As an embodiment, after obtaining the corresponding correction amount, calculate according to the following formula to obtain the radius and central angle of the corrected dynamic sector area, so as to obtain the final dynamic sector area according to the radius and central angle of the corrected dynamic sector area:

[0077]

[0078]

[0079] where, R id is the radius of the corrected dynamic sector area of the id-th vehicle, is the radius of the initial sector area corresponding to the id-th vehicle, is the radius correction amount corresponding to the id-th vehicle; θ id is the central angle of the corrected dynamic sector area of the id-th vehicle, is the central angle of the initial sector area corresponding to the id-th vehicle, is the central angle correction amount corresponding to the id-th vehicle.

[0080] As can be seen from the above, when the acceleration A id > 0, the radius correction amount is a positive value, and the radius R id increases. When the acceleration A id < 0, the radius correction amount is a negative value, and the radius R id decreases; when the Y id heading change rate is not equal to zero, the central angle θ id increases, and the increasing direction is the same as its direction; under the same speed V id condition, according to the acceleration A id and the heading change rate Y id with different values, there are 9 forms of the dynamic sector area, specifically as shown in Figure 2 (b) of

[0081] In step S103, determine the interaction relationship between the target vehicle and all surrounding vehicles corresponding to the target vehicle according to the dynamic area corresponding to each vehicle.

[0082] Further, in some embodiments, determining the interaction relationship between the target vehicle and all surrounding vehicles corresponding to the target vehicle according to the dynamic area corresponding to each vehicle includes: determining whether there is an overlapping area between the dynamic area corresponding to the target vehicle and the dynamic area corresponding to each of all surrounding vehicles corresponding to the target vehicle; if there is an overlapping area between the dynamic area corresponding to the target vehicle and the dynamic area corresponding to a certain surrounding vehicle, determining that there is an interaction relationship between the target vehicle and the certain surrounding vehicle.

[0083] As a specific embodiment, taking the body coordinate system of the target vehicle as the unified coordinate system, projecting the body area and the dynamic sector area of each vehicle in this coordinate system, and the projection results are as Figure 3 shown, where vehicle (1) represents the target vehicle, that is, the vehicle for which the interaction with surrounding vehicles needs to be determined currently, vehicle (2) represents the surrounding vehicle that has an interaction with the target vehicle, and vehicle (3) represents the surrounding vehicle that has no interaction with the target vehicle.

[0084] It should be noted that for any two vehicles, if their dynamic areas do not overlap with each other, that is, there is no intersection, it is determined that there is no interaction between these two vehicles; if their dynamic areas overlap with each other, that is, there is an intersection, it is determined that there is an interaction between these two vehicles; as Figure 4 in, there is a fan-shaped dynamic area corresponding to the front of each vehicle, which is the dynamic area corresponding to the vehicle, and the position where the dynamic areas intersect is the overlapping area.

[0085] In summary, the embodiments of the present application obtain the status information of each vehicle, so as to generate the dynamic area corresponding to each vehicle according to the status information of each vehicle; determine the interaction relationship between the target vehicle and all surrounding vehicles corresponding to the target vehicle according to the dynamic area corresponding to each vehicle, thereby improving the accuracy and rationality of the multi-vehicle interaction determination result.

[0086] Further, in some embodiments, the above vehicle interaction determination method further includes: when determining that there is an interaction relationship between the target vehicle and a certain surrounding vehicle, calculating the area of the overlapping area; judging whether it is necessary to carefully handle the interaction influence between the target vehicle and a certain surrounding vehicle according to the area of the overlapping area.

[0087] As a specific embodiment, judging whether it is necessary to carefully handle the interaction influence between the target vehicle and a certain surrounding vehicle according to the area of the overlapping area includes: comparing the sizes of the dynamic area corresponding to the target vehicle and the dynamic area corresponding to a certain surrounding vehicle to obtain the area of the smaller dynamic area; judging whether the area of the overlapping area is greater than Among them, λ is a constant greater than 1; if so, the interaction between the target vehicle and a certain surrounding vehicle needs to be carefully processed; if not, the interaction between the target vehicle and a certain surrounding vehicle does not need to be carefully processed.

[0088] That is to say, for the case where there is interaction, calculate the area of the mutually covered region. When the covered area is greater than the smaller of the areas of the two sectors then it is considered that the interaction between the two vehicles needs to be carefully processed; when the covered area is less than or equal to the smaller of the areas of the two sectors then it is considered that the interaction between the two vehicles needs to be normally processed; and for the case where there is no area coverage, it is considered that the interaction between the two vehicles can be ignored. Among them, λ is a constant greater than 1.

[0089] In summary, using the dynamic sector area can not only perform interaction determination, but also classify and process the interaction according to the size of the covered area. Therefore, when predicting the trajectories of multiple vehicles, different prediction models can be selected according to different classifications, which can not only reasonably allocate computing resources, further avoid the prediction algorithm from processing redundant data, improve the rationality of computing resource allocation, but also improve the prediction accuracy.

[0090] To enable those skilled in the art to further understand the vehicle interaction determination method of the embodiments of the present application, the following will be described in detail with reference to specific embodiments.

[0091] Specifically, as Figure 4 shown, Figure 4 is a flowchart of the vehicle interaction determination method according to a specific embodiment of the present application, including the following steps:

[0092] S201, obtain vehicle state information.

[0093] S202, design a dynamic area based on the state information.

[0094] S203, determine whether there is area coverage. If so, execute step S206; otherwise, execute step S204.

[0095] S204, there is no interaction.

[0096] S205, ignore the processing.

[0097] S206, there is interaction.

[0098] S207, determine whether the covered area is greater than the dynamic threshold. If so, execute step S209; otherwise, execute step S208.

[0099] S208, perform normal processing.

[0100] S209, perform careful processing.

[0101] According to the vehicle interaction determination method proposed in the embodiments of the present application, the state information of each vehicle can be obtained to generate a dynamic area that can describe the interaction range corresponding to each vehicle according to the state information of each vehicle; the interaction relationship between the target vehicle and all surrounding vehicles corresponding to the target vehicle can be determined according to the dynamic area corresponding to each vehicle; thereby, the problem in the related art that due to ignoring the specific state information of the vehicle, it is easy to cause the interaction determination or the assumed area range to be too large, and then the subsequent trajectory prediction algorithm needs to additionally process a large amount of unnecessary redundant data, not only wasting computing resources, but also affecting the trajectory prediction accuracy is solved. By considering the state information of each vehicle, a dynamic area describing the multi-vehicle interaction range is generated to perform interaction determination according to the dynamic area, thereby improving the accuracy and rationality of the interaction determination result.

[0102] Next, a vehicle interaction determination device proposed in the embodiments of the present application will be described with reference to the accompanying drawings.

[0103] Figure 5 It is a block diagram of the vehicle interaction determination device according to the embodiments of the present application.

[0104] As Figure 5 shown, the vehicle interaction determination device 10 includes: an acquisition module 100, a generation module 200, and an evaluation module 300.

[0105] Among them, the acquisition module 100 is used to acquire the state information of each vehicle, where each vehicle includes the target vehicle and all surrounding vehicles corresponding to the target vehicle;

[0106] The generation module 200 is used to generate a dynamic area corresponding to each vehicle according to the state information of each vehicle;

[0107] The determination module 300 is used to determine the interaction relationship between the target vehicle and all surrounding vehicles corresponding to the target vehicle according to the dynamic area corresponding to each vehicle.

[0108] Further, the state information includes the vehicle body length, the center position, the speed, the acceleration, the heading, and the heading change rate.

[0109] Further, in some embodiments, the generation module 100 is specifically used for:

[0110] Generate an initial sector area corresponding to each vehicle with the center position corresponding to each vehicle as the center of the circle, where the radius and the central angle of the initial sector area are determined by the corresponding vehicle body length and speed, and the orientation of the sector angle bisector of the initial sector area is determined by the corresponding heading;

[0111] Obtain the radius correction amount and the central angle correction amount corresponding to each vehicle according to the acceleration and the course change rate corresponding to each vehicle;

[0112] Dynamically correct the initial sector area corresponding to each vehicle according to the radius correction amount and the central angle correction amount corresponding to each vehicle, so as to obtain the dynamic sector area corresponding to each vehicle.

[0113] Further, in some embodiments, the radius and the central angle of the initial sector area are obtained according to the following formula:

[0114]

[0115]

[0116] where is the radius of the initial sector area corresponding to the id-th vehicle, V id is the speed, T is the prediction time, γ is a constant, is the central angle of the initial sector area corresponding to the id-th vehicle, e is the Euler number, and π is the pi.

[0117] Further, in some embodiments, the radius correction amount and the central angle correction amount corresponding to each vehicle are obtained according to the following formula:

[0118]

[0119]

[0120] where is the radius correction amount corresponding to the id-th vehicle, A id is the acceleration, Y id is the course change rate, is the central angle correction amount corresponding to the id-th vehicle.

[0121] Further, in some embodiments, the determination module 200 is specifically configured to:

[0122] Determine whether there is an overlapping area between the dynamic area corresponding to the target vehicle and the dynamic area corresponding to each vehicle among all the surrounding vehicles corresponding to the target vehicle;

[0123] If there is an overlapping area between the dynamic area corresponding to the target vehicle and the dynamic area corresponding to a certain surrounding vehicle, it is determined that there is an interaction relationship between the target vehicle and a certain surrounding vehicle.

[0124] Further, the above vehicle interaction determination device further includes:

[0125] A calculation module, configured to calculate the overlapping area when it is determined that there is an interaction relationship between the target vehicle and a certain surrounding vehicle;

[0126] A judgment module, configured to judge whether it is necessary to carefully handle the interaction effect between the target vehicle and a certain surrounding vehicle according to the covered area.

[0127] Further, in some embodiments, the judgment module is specifically configured to:

[0128] Compare the sizes of the dynamic area corresponding to the target vehicle and the dynamic area corresponding to a certain surrounding vehicle to obtain the area of the smaller dynamic area;

[0129] Judge whether the covered area is greater than where λ is a constant greater than 1;

[0130] If so, it is necessary to carefully handle the interaction effect between the target vehicle and a certain surrounding vehicle. If not, it is not necessary to carefully handle the interaction effect between the target vehicle and a certain surrounding vehicle.

[0131] It should be noted that the foregoing explanation of the embodiments of the vehicle interaction determination method also applies to the vehicle interaction determination device of this embodiment, and will not be elaborated here.

[0132] According to the vehicle interaction determination device provided by the embodiments of the present application, the state information of each vehicle can be obtained, so as to generate a dynamic area that can describe the interaction range corresponding to each vehicle according to the state information of each vehicle; determine the interaction relationship between the target vehicle and all surrounding vehicles corresponding to the target vehicle according to the dynamic area corresponding to each vehicle; thereby, solving the problem in the related art that due to ignoring the specific state information of the vehicle, it is easy to cause the interaction determination or the assumed area range to be too large, and then the subsequent trajectory prediction algorithm needs to additionally process a large amount of unnecessary redundant data, which not only causes waste of computing resources, but also affects the accuracy of the trajectory prediction. By considering the state information of each vehicle and generating a dynamic area that describes the interaction range of multiple vehicles, the interaction determination can be performed according to the dynamic area, thereby improving the accuracy and rationality of the interaction determination result.

[0133] Figure 6 The following is a schematic structural diagram of an electronic device provided by the embodiments of the present application. The electronic device may include:

[0134] A memory 601, a processor 602, and a computer program stored on the memory 601 and executable on the processor 602.

[0135] When the processor 602 executes the program, it implements the vehicle interaction determination method provided in the above embodiments.

[0136] Further, the electronic device further includes:

[0137] A communication interface 603 for communication between the memory 601 and the processor 602.

[0138] A memory 601 for storing computer programs that can run on the processor 602.

[0139] The memory 601 may include high-speed RAM memory and may also include non-volatile memory, such as at least one disk memory.

[0140] If the memory 601, the processor 602, and the communication interface 603 are implemented independently, the communication interface 603, the memory 601, and the processor 602 can be interconnected via a bus to complete communication with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 only a thick line is used to represent it in the figure, but it does not mean that there is only one bus or one type of bus.

[0141] Optionally, in a specific implementation, if the memory 601, the processor 602, and the communication interface 603 are integrated on a single chip, the memory 601, the processor 602, and the communication interface 603 can complete communication with each other through an internal interface.

[0142] The processor 602 may be a Central Processing Unit (CPU), or an Application Specific Integrated Circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0143] The embodiments of the present application also provide a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the vehicle interaction determination method described above is implemented.

[0144] In the description of this specification, the descriptions with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of this application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or N embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0145] In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of this application, the meaning of "N" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0146] Any process or method description shown in the flowchart or described in other ways herein can be understood as representing a module, segment, or portion of code including one or more N executable instructions for implementing a customized logic function or process, and the scope of the preferred embodiments of this application includes additional implementations, where the functions can be executed in a substantially simultaneous manner or in the reverse order according to the involved functions, rather than in the order shown or discussed, which should be understood by those skilled in the art to which the embodiments of this application pertain.

[0147] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a definite sequence list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other systems that can fetch and execute instructions from the instruction execution system, apparatus, or device), or used in combination with these instruction execution systems, apparatus, or devices. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection portion (electronic device) having one or N wirings, a portable computer diskette (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium can even be paper or other suitable media on which the program can be printed, because the program can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpretation, or other suitable processing as necessary, and then stored in a computer memory.

[0148] It should be understood that various parts of the present application can be implemented by hardware, software, firmware, or a combination thereof. In the above-described embodiments, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or a combination of the following techniques well known in the art can be used: discrete logic circuits having logic gate circuits for implementing logical functions on data signals, application specific integrated circuits having appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

[0149] Those of ordinary skill in the art of this technology can understand that all or part of the steps carried by the method of the above embodiments can be completed by instructing relevant hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiments.

[0150] In addition, each functional unit in various embodiments of the present application may be integrated into one processing module, may exist physically alone for each unit, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. When the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0151] The above-mentioned storage medium may be a read-only memory, a magnetic disk, an optical disc, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. A vehicle interaction determination method, characterized in that, It includes the following steps: Obtain the status information of each vehicle, where each vehicle includes the target vehicle and all surrounding vehicles corresponding to the target vehicle; Generate a dynamic area corresponding to each vehicle according to the status information of each vehicle; Determine the interaction relationship between the target vehicle and all surrounding vehicles corresponding to the target vehicle according to the dynamic area corresponding to each vehicle; Determine the interaction relationship between the target vehicle and all surrounding vehicles corresponding to the target vehicle according to the dynamic area corresponding to each vehicle, including: Judge whether there is an overlapping area between the dynamic area corresponding to the target vehicle and the dynamic area corresponding to each of all surrounding vehicles corresponding to the target vehicle; If there is an overlapping area between the dynamic area corresponding to the target vehicle and the dynamic area corresponding to a certain surrounding vehicle, judge that there is an interaction relationship between the target vehicle and the certain surrounding vehicle; It also includes: When judging that there is an interaction relationship between the target vehicle and a certain surrounding vehicle, calculate the overlapping area; Judge whether it is necessary to carefully handle the interaction impact between the target vehicle and the certain surrounding vehicle according to the overlapping area; Judge whether it is necessary to carefully handle the interaction impact between the target vehicle and the certain surrounding vehicle according to the overlapping area, including: Compare the sizes of the dynamic area corresponding to the target vehicle and the dynamic area corresponding to the certain surrounding vehicle to obtain the smaller dynamic area; Determine whether the area of the covered area is greater than that of the smaller dynamic area where λ is a constant greater than 1; If so, it is necessary to carefully handle the interaction impact between the target vehicle and the certain surrounding vehicle, if not, it is not necessary to carefully handle the interaction impact between the target vehicle and the certain surrounding vehicle.

2. The vehicle interaction determination method according to claim 1, wherein The status information includes vehicle body length, center position, speed, acceleration, heading, and heading change rate.

3. The vehicle interaction determination method according to claim 2, wherein Generate a dynamic area corresponding to each vehicle according to the status information of each vehicle, including: Generate an initial sector area corresponding to each vehicle with the center position corresponding to each vehicle as the center of the circle, where the radius and central angle of the initial sector area are determined by the corresponding vehicle body length and speed, and the bisector of the sector angle of the initial sector area is oriented by the corresponding heading; Obtain the radius correction amount and central angle correction amount corresponding to each vehicle according to the acceleration and heading change rate corresponding to each vehicle; Dynamically correct the initial sector area corresponding to each vehicle according to the radius correction amount and central angle correction amount corresponding to each vehicle to obtain the dynamic sector area corresponding to each vehicle.

4. The vehicle interaction determination method according to claim 3, wherein Obtain the radius and central angle of the initial sector area according to the following formula: Among them, is the radius of the initial sector area corresponding to the id-th vehicle, V id is the speed, T is the prediction time, γ is a constant, L id is the vehicle body length, is the central angle of the initial sector area corresponding to the id-th vehicle, e is the Euler number, and π is the pi.

5. The vehicle interaction determination method according to claim 4, characterized in that, Obtain the radius correction amount and central angle correction amount corresponding to each vehicle according to the following formula: Among them, is the radius correction amount corresponding to the id-th vehicle, A id is the acceleration, Y id is the course change rate, is the central angle correction amount corresponding to the id-th vehicle.

6. A vehicle interaction determination device, characterized in that, It includes: An acquisition module for obtaining the status information of each vehicle, where each vehicle includes the target vehicle and all surrounding vehicles corresponding to the target vehicle; A generation module for generating a dynamic area corresponding to each vehicle according to the status information of each vehicle; A determination module, configured to determine the interaction relationship between the target vehicle and all surrounding vehicles corresponding to the target vehicle according to the dynamic area corresponding to each vehicle; The determination module is specifically configured to: Determine whether there is an overlapping area between the dynamic area corresponding to the target vehicle and the dynamic area corresponding to each of all surrounding vehicles corresponding to the target vehicle; If there is an overlapping area between the dynamic area corresponding to the target vehicle and the dynamic area corresponding to a certain surrounding vehicle, determine that there is an interaction relationship between the target vehicle and the certain surrounding vehicle; It further includes: A calculation module, configured to calculate the overlapping area when it is determined that there is an interaction relationship between the target vehicle and a certain surrounding vehicle; A judgment module, configured to judge whether it is necessary to carefully handle the interaction influence between the target vehicle and the certain surrounding vehicle according to the overlapping area; The judgment module is specifically configured to: Compare the sizes of the dynamic area corresponding to the target vehicle and the dynamic area corresponding to a certain surrounding vehicle to obtain the smaller dynamic area; Determine whether the area of the covered region is greater than that of the smaller dynamic region where λ is a constant greater than 1; If so, it is necessary to carefully handle the interaction influence between the target vehicle and the certain surrounding vehicle, if not, it is not necessary to carefully handle the interaction influence between the target vehicle and the certain surrounding vehicle.

7. The vehicle interaction determination device according to claim 6, characterized in that, The state information includes body length, center position, speed, acceleration, heading, and heading change rate.

8. The vehicle interaction determination device according to claim 7, wherein The generation module is specifically configured to: Generate an initial sector area corresponding to each vehicle with the center position corresponding to each vehicle as the center of the circle, wherein the radius and central angle of the initial sector area are determined by the corresponding body length and speed, and the orientation of the sector angle bisector of the initial sector area is determined by the corresponding heading; Obtain the radius correction amount and central angle correction amount corresponding to each vehicle according to the acceleration and heading change rate corresponding to each vehicle; Dynamically correct the initial sector area corresponding to each vehicle according to the radius correction amount and central angle correction amount corresponding to each vehicle to obtain the dynamic sector area corresponding to each vehicle.

9. The vehicle interaction determination device according to claim 8, wherein Obtain the radius and central angle of the initial sector area according to the following formula: Among them, is the radius of the initial sector area corresponding to the id-th vehicle, V id is the speed, T is the prediction time, γ is a constant, L id is the vehicle body length, is the central angle of the initial sector area corresponding to the id-th vehicle, e is the Euler number, and π is the pi.

10. The vehicle interaction determination device according to claim 9, characterized in that, Obtain the radius correction amount and central angle correction amount corresponding to each vehicle according to the following formula: Among them, is the radius correction amount corresponding to the id-th vehicle, A id is the acceleration, Y id is the course change rate, is the central angle correction amount corresponding to the id-th vehicle.

11. An electronic device, characterized in that, It includes: A memory, a processor, and a computer program stored on the memory and executable on the processor, and the processor executes the program to implement the vehicle interaction determination method according to any one of claims 1-5.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to be used to implement the vehicle interaction determination method according to any one of claims 1-5.

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