Road obstacle determination method, device, equipment and storage medium

Abstract

The application relates to a road obstacle determination method and device, equipment and a storage medium, and relates to the technical field of intelligent driving. The method comprises the following steps: acquiring a first object and a second object in a target detection area of a vehicle; the target detection area is a detection area in the driving direction of the vehicle, the first object comprises boundary points of a drivable area of the vehicle, and the second object comprises a target object closest to the vehicle; the target object is detected by multiple sensors; in the case that the type of the second object is a preset type, the second object is determined as a target obstacle; and in the case that the type of the second object is not the preset type, the target obstacle is determined from the first object and the second object. Therefore, the experience of a user when the vehicle brakes can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent driving, in particular to a road obstacle determination method and device, equipment and a storage medium. BACKGROUND

[0002] At present, vehicles equipped with auxiliary braking functions are becoming more and more popular. The auxiliary braking function is used to assist braking of the vehicle to avoid vehicle collision.

[0003] In the related art, to implement auxiliary braking, the accurate movement speed and collision time of the obstacle are calculated when it is detected that there is an obstacle in the road in front of the vehicle, and whether braking is needed is determined by comparing the collision time with a preset collision time threshold. However, in the related art, the detection of the obstacle is not accurate enough in the process of detecting the obstacle, which may cause the vehicle to brake incorrectly or brake too early, reducing the user experience. SUMMARY

[0004] The present application provides a road obstacle determination method, device, equipment and storage medium to at least solve the technical problem of reducing user experience in the related art. The technical solution of the present application is as follows:

[0005] According to a first aspect of the present application, a road obstacle determination method is provided, comprising: obtaining a first object and a second object in a target detection area of a vehicle; the target detection area is a detection area in the driving direction of the vehicle, the first object includes a boundary point of the drivable area of the vehicle, and the second object includes a target object closest to the vehicle; the target object is detected by multiple sensors; in a case where the type of the second object is a preset type, the second object is determined as a target obstacle; and in a case where the type of the second object is not the preset type, the target obstacle is determined from the first object and the second object.

[0006] According to the above technical means, after obtaining the first object and the second object by multiple sensors, the second object is determined as the target obstacle in the case where the second object is of the preset type, which can realize timely and accurate braking of the vehicle; in the case where the second object is not of the preset type, the target obstacle is determined from the first object and the second object, which can ignore obstacles that do not affect normal driving of the vehicle from different sources of obstacles, prevent incorrect braking or early braking, and accurately determine the target obstacle that affects normal driving of the vehicle to realize timely and accurate braking of the vehicle. In this way, timely and accurate braking of the vehicle is realized on the basis of avoiding incorrect braking or early braking, which can improve the experience of the driver driving the vehicle.

[0007] In a possible implementation, the method further includes: in the case where the type of the second object is not the preset type, determining the target obstacle from the first object and the second object includes: in the case where the type of the second object is not the preset type, if the driving direction of the vehicle is straight, determining the object closest to the vehicle from the first object and the second object as the target obstacle; in the case where the type of the second object is not the preset type, if the driving direction of the vehicle is not straight, determining the target obstacle from the first object and the second object according to the number of target boundary points included in the first object; the target boundary point is a boundary point located in the detection frame of the second object.

[0008] According to the technical means, in the case where the type of the second object is not the preset type, the driving direction of the vehicle is determined, and in the case where the driving direction of the vehicle is straight, the object closest to the vehicle from the first object and the second object is determined as the target obstacle. Further, in the case where the driving direction of the vehicle is left turn or right turn, the target obstacle is determined from the first object and the second object according to the number of target boundary points included in the first object. In this way, different obstacles are determined according to the driving direction of the vehicle, and in the case where the vehicle is left turn or right turn, the object far away from the vehicle is determined as the obstacle, which can reduce the false triggering of vehicle braking and improve the experience of the driver.

[0009] In a possible implementation, the method further includes: in the case where the type of the second object is not the preset type, determining the target obstacle from the first object and the second object includes: in the case where the type of the second object is not the preset type, if the driving direction of the vehicle is straight, determining the object closest to the vehicle from the first object and the second object as the target obstacle; in the case where the type of the second object is not the preset type, if the driving direction of the vehicle is not straight, determining the target obstacle from the first object and the second object according to the number of target boundary points included in the first object; the target boundary point is a boundary point located in the detection frame of the second object.

[0010] According to the technical means, in the case where the type of the second object is not the preset type, the driving direction of the vehicle is determined, and in the case where the driving direction of the vehicle is straight, the object closest to the vehicle from the first object and the second object is determined as the target obstacle. Further, in the case where the driving direction of the vehicle is left turn or right turn, the target obstacle is determined from the first object and the second object according to the number of target boundary points included in the first object. In this way, different obstacles are determined according to the driving direction of the vehicle, and in the case where the vehicle is left turn or right turn, the object far away from the vehicle is determined as the obstacle, which can reduce the false triggering of vehicle braking and improve the experience of the driver.

[0011] In a possible implementation, the preset threshold is negatively related to the current speed of the vehicle.

[0012] According to the technical means above, when the current speed of the vehicle is high, the preset threshold is lowered accordingly, and the boundary point closest to the vehicle among the target boundary points is more likely to be determined as the target obstacle, so that the vehicle can obtain an obstacle closer to the vehicle, and the vehicle can brake early, thereby enhancing the safety of the vehicle.

[0013] In a possible implementation, the method further includes: in a case where the second object does not exist in the target detection area, determining the boundary point closest to the vehicle among the first objects as the target obstacle.

[0014] According to the technical means above, the electronic device can determine the boundary point closest to the vehicle among the first objects as the target obstacle in a case where the second object does not exist in the target detection area. In this way, the obstacle can be determined even when the second object does not exist in the target detection area, and the safety of the vehicle braking is enhanced.

[0015] According to a second aspect provided by the present application, a device for determining a road obstacle is provided, including an acquisition unit and a determination unit; the acquisition unit is configured to acquire a first object and a second object in a target detection area of a vehicle; the target detection area is a detection area in a driving direction of the vehicle, the first object includes boundary points of a drivable area of the vehicle, and the second object includes a target object closest to the vehicle; the target object is detected by a plurality of sensors; the determination unit is configured to determine the second object as a target obstacle in a case where a type of the second object is a preset type; and the determination unit is further configured to determine the target obstacle from the first object and the second object in a case where the type of the second object is not the preset type.

[0016] According to the technical means above, the first object and the second object can be acquired by the plurality of sensors, the second object is determined as the target obstacle in a case where the second object is of the preset type, the timely and accurate braking of the vehicle can be achieved; and the target obstacle is determined from the first object and the second object in a case where the second object is not of the preset type, the obstacle that does not affect the normal driving of the vehicle can be ignored from different sources of obstacles, the false braking or early braking can be avoided, and the target obstacle affecting the normal driving of the vehicle can be accurately determined, so that the timely and accurate braking of the vehicle can be achieved, and the experience of the driver driving the vehicle can be improved.

[0017] In a possible implementation, the determining unit is specifically configured to: in the case where the type of the second object is not the preset type, if the driving direction of the vehicle is straight, determining the object closest to the vehicle from the first object and the second object as the target obstacle; in the case where the type of the second object is not the preset type, if the driving direction of the vehicle is not straight, determining the target obstacle from the first object and the second object according to the number of target boundary points included in the first object; the target boundary point is a boundary point located in the detection frame of the second object.

[0018] According to the technical means, in the case where the type of the second object is not the preset type, the driving direction of the vehicle is determined, and in the case where the driving direction of the vehicle is straight, the object closest to the vehicle from the first object and the second object is determined as the target obstacle. Further, in the case where the driving direction of the vehicle is left turn or right turn, the target obstacle is determined from the first object and the second object according to the number of target boundary points included in the first object. In this way, different obstacles are determined according to the driving direction of the vehicle, and in the case where the vehicle is left turn or right turn, the object far away from the vehicle is determined as the obstacle, which can reduce the false triggering of vehicle braking and improve the experience of the driver.

[0019] In a possible implementation, the determining unit is further configured to: if the number of target boundary points is greater than or equal to a preset threshold, determining the boundary point closest to the vehicle from the target boundary points as the target obstacle; and if the number of target boundary points is less than the preset threshold, determining the second object as the target obstacle.

[0020] According to the technical means, the electronic device determines the boundary point closest to the vehicle from the target boundary points as the target obstacle if the number of target boundary points is greater than or equal to a preset threshold, and determines the second object as the target obstacle if the number of target boundary points is less than the preset threshold. In this way, since the preset threshold is negatively related to the current speed of the vehicle, the preset threshold is reduced when the current speed of the vehicle is high, and thus it is more likely to determine the boundary point closest to the vehicle from the target boundary points as the target obstacle, which makes the vehicle obtain the obstacle closer to the vehicle, so that the vehicle brakes early and the safety of the vehicle is enhanced. In the case where the number of target boundary points is less than the preset threshold, the second object is determined as the target obstacle, which filters the boundary points and reduces the false triggering of vehicle braking.

[0021] In a possible implementation, the preset threshold is negatively related to the current speed of the vehicle.

[0022] According to the technical means, when the current speed of the vehicle is high, the threshold is lowered accordingly, and the boundary point closest to the vehicle in the target boundary points is more likely to be determined as the target obstacle, so that the vehicle can obtain an obstacle closer to the vehicle, brake earlier, and the safety of the vehicle is enhanced.

[0023] In a possible implementation, the determination unit is further configured to determine, when the second object does not exist in the target detection area, the boundary point closest to the vehicle in the first object as the target obstacle.

[0024] According to the technical means, the electronic device determines, when the second object does not exist in the target detection area, the boundary point closest to the vehicle in the first object as the target obstacle. In this way, even when the second object does not exist in the target detection area, the obstacle can be determined, and the safety of the vehicle braking is enhanced.

[0025] According to a third aspect provided by the present application, an electronic device is provided, including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to execute the instructions to implement the method of the first aspect and any possible implementation thereof.

[0026] According to a fourth aspect provided by the present application, a computer-readable storage medium is provided, when the instructions in the computer-readable storage medium are executed by the processor of the electronic device, the electronic device can execute the method of the first aspect and any possible implementation thereof.

[0027] According to a fifth aspect provided by the present application, a computer program product is provided, the computer program product includes computer instructions, when the computer instructions are executed on the electronic device, the electronic device executes the method of the first aspect and any possible implementation thereof.

[0028] According to a sixth aspect provided by the present application, a vehicle is provided, including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to execute the instructions to implement the method of the first aspect and any possible implementation thereof.

[0029] It should be noted that the technical effects brought by any implementation of the second aspect to the sixth aspect can refer to the technical effects brought by the corresponding implementation of the first aspect, which will not be repeated here.

[0030] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF DRAWINGS

[0031] The accompanying drawings, which are incorporated herein and constitute part of the specification, illustrate embodiments consistent with the application and, together with the description, function to explain the principles of the application. It is to be understood, however, that the drawings are designed solely for purposes of illustration and not as a definition of the limits of the application.

[0032] Figure 1 is a flow chart of a method for determining a road obstacle according to an example embodiment;

[0033] Figure 2 is a schematic diagram of a first object and a second object according to an example embodiment;

[0034] Figure 3 is a schematic diagram of a target detection area when the driving direction of the vehicle is straight according to an example embodiment;

[0035] Figure 4 is a schematic diagram of a target detection area when the driving direction of the vehicle is turning (left turn, right turn) according to an example embodiment;

[0036] Figure 5 is a schematic diagram of a plurality of preset collision areas according to an example embodiment;

[0037] Figure 6 is a flow chart of a method for determining a road obstacle according to another example embodiment;

[0038] Figure 7 is a flow chart of a method for determining a road obstacle according to another example embodiment;

[0039] Figure 8 is a flow chart of a method for determining a road obstacle according to another example embodiment;

[0040] Figure 9 is a block diagram of a device for determining a road obstacle according to an example embodiment;

[0041] Figure 10 is a block diagram of an electronic device according to an example embodiment. DETAILED DESCRIPTION

[0042] In order for those skilled in the art to better understand the technical solutions of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings.

[0043] It should be noted that the terms "first", "second", and the like in the description and in the claims of the present application and the above-described accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. The implementation described in the following exemplary embodiments does not represent all implementations consistent with the present application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the present application as detailed in the appended claims.

[0044] In the following embodiments provided by the present application, the determination method of the road obstacle can be applied to vehicle driving in a low-speed scenario and vehicle driving in a high-speed scenario. Among them, the vehicle speed lower than 20 kilometers per hour is low speed.

[0045] In the following embodiments provided by the present application, the present application is illustrated by taking an electronic device as an example.

[0046] For ease of understanding, the determination method of the road obstacle provided by the present application is specifically introduced below in combination with the accompanying drawings.

[0047] Figure 1 is a flowchart of a determination method of a road obstacle according to an exemplary embodiment, as shown in Figure 1 The determination method of the road obstacle includes the following steps:

[0048] S101, the electronic device acquires a first object and a second object in a target detection area of the vehicle.

[0049] Among them, the target detection area is a detection area in the driving direction of the vehicle, the first object includes the boundary points of the drivable area of the vehicle, and the second object includes the target object closest to the vehicle; the target object is detected by a plurality of sensors.

[0050] As a possible implementation manner, the electronic device determines the driving direction of the vehicle, and determines the target detection area of the vehicle according to the driving direction of the vehicle. Further, the electronic device determines the boundary points of the drivable area in the target detection area as the first object after acquiring all the boundary points in the drivable area in the driving direction of the vehicle and all the target objects, and determines the target objects in the target detection area as the second object.

[0051] It should be noted that the plurality of sensors mounted on the vehicle detect the area in the driving direction of the vehicle, detect all boundary points in the driving direction of the vehicle and all target objects in the driving direction of the vehicle, and send data of all boundary points in the driving direction of the vehicle and all target objects in the driving direction of the vehicle to the electronic device. The target object is an object fused by the plurality of sensors after detection, which can be a pedestrian, a vehicle or other road facilities on the road, etc. The data of all boundary points in the driving direction of the vehicle includes the coordinates of all boundary points in the vehicle coordinate system. The data of all target objects in the driving direction of the vehicle includes the static or dynamic attributes, type and coordinates in the vehicle coordinate system of the target object. Exemplarily, Figure 2 The first object is a series of discrete points, and the second object can be displayed in the form of a detection box. The detection box of the second object is a contour composed of four corner points describing the target object.

[0052] In addition, in the above embodiment, the electronic device determines the target detection area of the vehicle according to the driving direction of the vehicle, which can be realized in the following way:

[0053] The electronic device predicts the area covered by the contour of the vehicle after the vehicle travels a predicted distance based on the driving direction of the vehicle, and determines the area covered by the contour of the vehicle as the target detection area.

[0054] Exemplarily, Figure 3 The schematic diagram of the target detection area when the driving direction of the vehicle is straight, in the case that the driving direction of the vehicle is straight, the target detection area of the vehicle is a rectangular area in front of the vehicle. The length of the rectangular area is the above-mentioned predicted distance, and the width of the rectangular area is the width of the vehicle body.

[0055] There is an example below, Figure 4 The schematic diagram of the target detection area when the driving direction of the vehicle is turning (left turn, right turn), in the case that the driving direction of the vehicle is turning, the target detection area of the vehicle is a sector area on one side of the turning of the vehicle. The sector area is the area covered by the contour of the vehicle during the turning of the vehicle, and the average length of the outer arc and the inner arc of the sector is the above-mentioned preset distance.

[0056] It should be noted that the specific steps of the electronic device to determine the driving direction of the vehicle will be described in subsequent embodiments, which will not be described here.

[0057] S102, the electronic device judges whether the type of the second object is a preset type.

[0058] Among them, the preset type is set by the operation and maintenance personnel in the electronic device in advance.

[0059] As a possible implementation, the electronic device acquires the type of the second object, and determines whether the type of the second type is a preset type.

[0060] It should be noted that the type of the second object includes a static attribute type and a dynamic attribute type; the preset type is a dynamic attribute type. For example, the dynamic attribute type includes a dynamic pedestrian, an animal, or other running vehicles, and the static attribute type includes a stationary vehicle or road facilities, etc. The type of the second object can be sent to the electronic device by the vehicle sensors when sending the second object to the electronic device.

[0061] In some cases, the type of the second object can be detected by the plurality of sensors after detecting the target object, and the type of the target object is obtained according to a preset object classification model.

[0062] S103, in the case where the type of the second object is the preset type, the electronic device determines the second object as the target obstacle.

[0063] For example, in the case where the preset type is a dynamic pedestrian, the electronic device determines the pedestrian as the target obstacle.

[0064] S104, in the case where the type of the second object is not the preset type, the electronic device determines the target obstacle from the first object and the second object.

[0065] As a possible implementation, in the case where the type of the second object is not the preset type, the electronic device can determine the object closest to the vehicle from the first object and the second object as the target obstacle.

[0066] It should be noted that if the first object is closest to the vehicle, the electronic device can also determine the boundary point closest to the vehicle in the first object as the target obstacle.

[0067] As another possible implementation, in the case where the type of the second object is not the preset type, the electronic device determines the target obstacle from the first object and the second object according to the driving direction of the vehicle.

[0068] It should be noted that the driving direction of the vehicle includes straight driving and turning; wherein the straight driving can include straight driving forward and straight driving backward, and the turning can include turning forward and turning backward.

[0069] Specifically, in the case where the driving direction of the vehicle is straight driving, the electronic device determines the object closest to the vehicle from the first object and the second object as the target obstacle; in the case where the driving direction of the vehicle is turning, the electronic device determines the target obstacle from the first object and the second object according to the number of boundary points of the first object included in the detection frame of the second object.

[0070] For example, in the case that the type of the second object is a static garbage can and the driving direction of the vehicle is straight, the electronic device determines the object closest to the vehicle among the first object and the second object as the target obstacle. It should be noted that if the first object is closest to the vehicle, the object closest to the vehicle is the boundary point closest to the vehicle among the first object.

[0071] In some cases, Figure 5 A plurality of preset collision areas are shown. After determining the target obstacle, the electronic device determines a target collision area to which the target obstacle belongs from the plurality of preset collision areas on the road according to the target obstacle, and takes the target collision area and the target obstacle as an input for vehicle braking for further processing.

[0072] It can be understood that the technical scheme provided by the embodiments of the present application can realize timely and accurate braking of the vehicle by acquiring the first object and the second object through a plurality of sensors, determining the second object as the target obstacle in the case that the second object is of a preset type, determining the target obstacle from the first object and the second object in the case that the second object is not of the preset type, ignoring the obstacles that do not affect the normal driving of the vehicle from the obstacles of different sources, preventing false braking or early braking, and accurately determining the target obstacle that affects the normal driving of the vehicle to realize timely and accurate braking of the vehicle. In this way, timely and accurate braking of the vehicle can be realized on the basis of avoiding false braking or early braking, and the experience of the driver driving the vehicle can be improved.

[0073] In some embodiments, in the case that the type of the second object is not of the preset type, in order to be able to determine the target obstacle from the first object and the second object, as Figure 6 As shown, the method for determining a road obstacle provided by the embodiments of the present application comprises the following steps in S103:

[0074] S201, the electronic device determines the driving direction of the vehicle.

[0075] As a possible implementation manner, the electronic device acquires the rotation angle of the steering wheel of the vehicle, and determines the driving direction of the vehicle according to a preset vehicle left-turn steering wheel threshold and a preset vehicle right-turn steering wheel threshold.

[0076] It should be noted that when the rotation angle of the steering wheel of the vehicle is less than the preset vehicle left-turn steering wheel threshold, the electronic device determines that the driving direction of the vehicle is left turn; when the rotation angle of the steering wheel of the vehicle is greater than or equal to the preset vehicle left-turn steering wheel threshold and less than or equal to the preset vehicle right-turn steering wheel threshold, the electronic device determines that the driving direction of the vehicle is straight; and when the rotation angle of the steering wheel of the vehicle is greater than the preset vehicle right-turn steering wheel threshold, the electronic device determines that the driving direction of the vehicle is right turn.

[0077] The turning angle of the vehicle steering wheel is denoted as VehSteerAng, the preset vehicle left-turn steering wheel threshold is denoted as LeftAnglethreshod, and the preset vehicle right-turn steering wheel threshold is denoted as RightAnglethreshod.

[0078] When the vehicle is turning left, the following formula one is satisfied:

[0079] VehSteerAng < LeftAnglethreshod Formula one

[0080] When the vehicle is going straight, the following formula two is satisfied:

[0081] LeftAnglethreshod ≤ VehSteerAng ≤ RightAnglethreshod Formula two

[0082] When the vehicle is turning right, the following formula three is satisfied:

[0083] VehSteerAng > RightAnglethreshod Formula three

[0084] For example, the preset vehicle left-turn steering wheel threshold is -10 degrees, the preset vehicle right-turn steering wheel threshold is +10 degrees, the turning angle of the vehicle steering wheel is -20 degrees, the driving direction of the vehicle is left turn, the turning angle of the vehicle steering wheel is +20 degrees, the driving direction of the vehicle is right turn, and the turning angle of the vehicle steering wheel is 5 degrees, the driving direction of the vehicle is straight.

[0085] In a case where the type of the second object is not the preset type, if the driving direction of the vehicle is straight, the electronic device determines the object closest to the vehicle from among the first object and the second object as the target obstacle.

[0086] The straight includes straight forward and straight backward.

[0087] As a possible implementation, in a case where the type of the second object is not the preset type and the obtained driving direction of the vehicle is straight forward or straight backward, the electronic device determines the object closest to the vehicle from among the first object and the second object as the target obstacle.

[0088] It should be noted that if the first object is closest to the vehicle, the electronic device can take the boundary point closest to the vehicle from the first object as the target obstacle.

[0089] For example, in a case where the type of the second object is a static garbage can and the obtained driving direction of the vehicle is straight forward, the electronic device determines the object closest to the vehicle from among the first object and the second object as the target obstacle.

[0090] In a case where the type of the second object is not the preset type, if the driving direction of the vehicle is not straight, the electronic device determines a target obstacle from the first object and the second object according to a number of target boundary points included in the first object.

[0091] The target boundary points are boundary points located in a detection frame of the second object, and the driving direction of the vehicle is not straight in a case where the vehicle turns left or right.

[0092] As a possible implementation, in a case where the type of the second object is not the preset type and the driving direction of the vehicle is left or right, the electronic device determines whether the number of target boundary points is greater than or equal to a preset threshold.

[0093] If the number of target boundary points is greater than or equal to the preset threshold, the electronic device determines a boundary point closest to the vehicle among the target boundary points as the target obstacle.

[0094] If the number of target boundary points is less than the preset threshold, the electronic device determines the second object as the target obstacle.

[0095] It can be understood that the technical scheme provided by the embodiments of the present application determines the target obstacle from the first object and the second object according to the number of target boundary points included in the first object in a case where the type of the second object is not the preset type and the driving direction of the vehicle is left or right. In this way, different obstacles are determined according to the driving direction of the vehicle, and in a case where the vehicle turns left or right, an object farther away from the vehicle can be determined as an obstacle, which can reduce false triggering of vehicle braking and improve the experience of the driver.

[0096] In some embodiments, in order to be able to determine the target obstacle from the first object and the second object according to the number of target boundary points included in the first object, as shown in Figure 7 The determination method of the road obstacle provided by the embodiments of the present application includes the following steps in S203:

[0097] S301, the electronic device determines whether the number of target boundary points is greater than or equal to a preset threshold.

[0098] The preset threshold is set in the electronic device by an operation and maintenance personnel in advance, or the preset threshold can be negatively related to the current speed of the vehicle.

[0099] It can be understood that the preset threshold is negatively related to the current speed, when the current speed of the vehicle is high, the preset threshold will be reduced accordingly, and then it is more likely to determine the boundary point closest to the vehicle among the target boundary points as the target obstacle, so that the vehicle can obtain the obstacle closer to the vehicle, the vehicle brakes early, and the safety of the vehicle is enhanced.

[0100] S302, if the number of target boundary points is greater than or equal to the preset threshold, the electronic device determines the boundary point closest to the vehicle among the target boundary points as the target obstacle.

[0101] For example, the number of target boundary points is 20, the preset threshold is 15, and the electronic device determines the boundary point closest to the vehicle among the target boundary points as the target obstacle.

[0102] S303, if the number of target boundary points is less than the preset threshold, the electronic device determines the second object as the target obstacle.

[0103] For example, the number of target boundary points is 10, the preset threshold is 15, and the electronic device determines the second object as the target obstacle.

[0104] It can be understood that the technical scheme provided by the embodiment of the application determines whether the number of target boundary points is greater than or equal to the preset threshold, if the number of target boundary points is greater than or equal to the preset threshold, the electronic device determines the boundary point closest to the vehicle among the target boundary points as the target obstacle. Correspondingly, if the number of target boundary points is less than the preset threshold, the electronic device determines the second object as the target obstacle. In this way, since the preset threshold is negatively related to the current speed of the vehicle, when the current speed of the vehicle is high, the preset threshold will be reduced accordingly, and then it is more likely to determine the boundary point closest to the vehicle among the target boundary points as the target obstacle, so that the vehicle can obtain the obstacle closer to the vehicle, the vehicle brakes early, and the safety of the vehicle is enhanced; when the number of target boundary points is less than the preset threshold, the second object is determined as the target obstacle, the filtering of the boundary points is realized, and the false triggering of the vehicle braking is reduced.

[0105] In some embodiments, since the above embodiments S101 to S104 are the determination method of the road obstacle in the case that the first object and the second object exist in the target detection area, in the case that the second object does not exist in the target detection area, in order to be able to determine the target obstacle, as shown in Figure 8 The determination method of the road obstacle provided by the embodiment of the application further includes the following steps:

[0106] S401, the electronic device judges whether the second object exists in the target detection area.

[0107] As a possible implementation, the electronic device determines whether the second object exists in the target detection area according to data sent by the plurality of sensors.

[0108] S402, in the case that the second object does not exist in the target detection area, the electronic device determines the boundary point closest to the vehicle in the first object as the target obstacle.

[0109] It can be understood that the technical scheme provided by the embodiment of the application determines whether the second object exists in the target detection area, and in the case that the second object does not exist in the target detection area, the electronic device determines the boundary point closest to the vehicle in the first object as the target obstacle. In this way, even when the second object does not exist in the target detection area, the obstacle can be determined, and the safety of the vehicle braking is enhanced.

[0110] The above mainly introduces the scheme provided by the embodiment of the application from the perspective of the method. In order to realize the above functions, the road obstacle determination apparatus or the electronic device comprises the hardware structure and / or software module corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of the examples described in the embodiments disclosed in the present application, the application can be realized in the form of hardware or the combination of hardware and computer software. Whether a certain function is realized in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical scheme. The skilled person can use different methods to realize the described functions for each specific application, but such implementation should not be considered beyond the scope of the application.

[0111] The embodiment of the application can divide the functional modules of the road obstacle determination apparatus or the electronic device according to the above method, for example, the road obstacle determination apparatus or the electronic device can comprise the functional modules corresponding to the division of each function, or two or more functions can be integrated in one processing module. The integrated module can be realized in the form of hardware or in the form of software functional module. It should be noted that the division of the modules in the embodiment of the application is illustrative, and is only a logical function division. When actually implemented, there can be another division manner.

[0112] Figure 9 is a block diagram of a road obstacle determination apparatus according to an example embodiment. Referring to Figure 9 The road obstacle determination apparatus 500 comprises an acquisition unit 501 and a determination unit 502.

[0113] The acquisition unit 501 is configured to acquire a first object and a second object in a target detection area of a vehicle; the target detection area is a detection area in a driving direction of the vehicle, the first object includes a boundary point of a drivable area of the vehicle, and the second object includes a target object closest to the vehicle; the target object is detected by a plurality of sensors.

[0114] The determination unit 502 is configured to determine the second object as a target obstacle if a type of the second object is a preset type.

[0115] The determination unit 502 is further configured to determine a target obstacle from the first object and the second object if the type of the second object is not the preset type.

[0116] Optionally, as shown in Figure 9 the determination unit 502 provided in the embodiment of the present application is specifically configured to:

[0117] if the driving direction of the vehicle is straight driving, the object closest to the vehicle from the first object and the second object is determined as the target obstacle.

[0118] if the driving direction of the vehicle is not straight driving, the target obstacle is determined from the first object and the second object according to a number of target boundary points included in the first object; the target boundary point is a boundary point located in a detection frame of the second object.

[0119] Optionally, as shown in Figure 9 the determination unit 502 provided in the embodiment of the present application is further configured to:

[0120] if the number of target boundary points is greater than or equal to a preset threshold, the boundary point closest to the vehicle from the target boundary points is determined as the target obstacle.

[0121] if the number of target boundary points is less than the preset threshold, the second object is determined as the target obstacle.

[0122] Optionally, the preset threshold is negatively related to a current speed of the vehicle in the embodiment of the present application.

[0123] Optionally, as shown in Figure 9 the determination unit 502 provided in the embodiment of the present application is further configured to determine the boundary point closest to the vehicle from the first object as the target obstacle if the second object does not exist in the target detection area.

[0124] As to the apparatus in the above-mentioned embodiments, the specific manners in which various modules perform operations have been described in details in the embodiments of the method, and will not be described in details here.

[0125] Figure 10 is a block diagram of an electronic device according to an exemplary embodiment. As shown in Figure 10 , the electronic device 600 includes, but is not limited to, a processor 601 and a memory 602.

[0126] The memory 602 is configured to store executable instructions of the processor 601. It can be understood that the processor 601 is configured to execute the instructions to implement the method for determining road obstacles in the above embodiments.

[0127] It should be noted that those skilled in the art can understand that the electronic device structure shown in the above Figure 10 does not constitute a limitation on the electronic device, and the electronic device can include more or fewer components than those shown in the above Figure 10 , or combine some components, or different component arrangements.

[0128] The processor 601 is the control center of the electronic device, which connects all parts of the electronic device through various interfaces and lines, executes software programs and / or modules stored in the memory 602 and data stored in the memory 602, processes data, and thus monitors the whole electronic device. The processor 601 can include one or more processing units. Optionally, the processor 601 can integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, and the modem processor mainly processes wireless communication. It can be understood that the modem processor can also not be integrated into the processor 601.

[0129] The memory 602 can be used to store software programs and various data. The memory 602 can mainly include a program storage area and a data storage area, wherein the program storage area can store the operating system, application programs (such as determination unit, processing unit, etc.) required by at least one functional module, etc. In addition, the memory 602 can include a high-speed random access memory, and can also include a non-volatile memory, for example, at least one magnetic disk storage device, a flash memory device, or other volatile solid-state memory device.

[0130] In exemplary embodiments, a computer readable storage medium including instructions, for example, the memory 602 including instructions, is also provided, and the instructions can be executed by the processor 601 of the electronic device 600 to implement the method for determining road obstacles in the above embodiments.

[0131] In actual implementation, Figure 9 the functions of the acquisition unit 501 and the determination unit 502 in the above Figure 10The processor 601 in the computer program product stored in the memory 602 is called to realize the computer program. The specific execution process can refer to the description of the road obstacle determination method in the above embodiment, which will not be repeated here.

[0132] Alternatively, the computer readable storage medium can be a non-transitory computer readable storage medium, for example, the non-transitory computer readable storage medium can be a read-only memory (Read-Only Memory, ROM), a random access memory (Random Access Memory, RAM), a CD-ROM, a magnetic tape, a floppy disk and an optical data storage device, etc.

[0133] In an example embodiment, the embodiment of the application also provides a vehicle, comprising: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to execute the instructions to implement the road obstacle determination method in the above embodiment.

[0134] In an example embodiment, the embodiment of the application also provides a computer program product comprising one or more instructions executable by the processor 601 of the electronic device to complete the road obstacle determination method in the above embodiment.

[0135] It should be noted that the instructions in the above computer readable storage medium or the one or more instructions in the computer program product are executed by the processor of the electronic device to realize each process of the above road obstacle determination method embodiment, and can achieve the same technical effect as the above road obstacle determination method. To avoid repetition, it will not be repeated here.

[0136] Through the description of the above embodiments, those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above division of each functional module is taken as an example for illustration, and in actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete the above described full classification part or part of the function.

[0137] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another device, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the shown or discussed each other can be through some interface, indirect coupling or communication connection between devices or units, which can be electrical, mechanical or other forms.

[0138] The unit described as a separate component can or can not be physically separated, and the component displayed as a unit can be one physical unit or multiple physical units, that is, can be located in one place, or can also be distributed to multiple different places. Part or all of the classified units can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0139] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically present alone, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0140] If the integrated unit is realized in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on such understanding, the technical scheme of the embodiments of the present application or the part that contributes to the prior art or the whole classification or part of the technical scheme can be embodied in the form of a software product stored in a storage medium, including a plurality of instructions for causing an apparatus (which can be a single-chip microcomputer, a chip, etc.) or a processor to execute all or part of the steps of the method of each embodiment of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a ROM, a RAM, a magnetic disk or an optical disk, and various program code storage media.

[0141] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, any change or replacement within the technical scope disclosed in the present application should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for determining road obstacles, characterized in that, include: The system acquires a first object and a second object within a target detection area of ​​the vehicle; the target detection area is a detection area along the vehicle's driving direction, the first object includes the boundary point of the vehicle's drivable area, and the second object includes the target object closest to the vehicle; the target object is detected by multiple sensors. If the type of the second object is a preset type, the second object is identified as the target obstacle; If the type of the second object is not the preset type, and the vehicle is traveling in a straight direction, then the first object and the object closest to the vehicle among the second objects are identified as the target obstacle. If the type of the second object is not the preset type, and if the vehicle's driving direction is not straight, then the target obstacle is determined from the first object and the second object based on the number of target boundary points included in the first object. The target boundary point is the boundary point located within the detection box of the second object; Determining the target obstacle from the first object and the second object based on the number of target boundary points included in the first object includes: If the number of target boundary points is greater than or equal to a preset threshold, then the boundary point closest to the vehicle among the target boundary points is determined as the target obstacle; If the number of target boundary points is less than the preset threshold, then the second object is identified as the target obstacle.

2. The method according to claim 1, characterized in that, The preset threshold is negatively correlated with the vehicle's current speed.

3. The method according to claim 1 or 2, characterized in that, The method further includes: If the second object is not present within the target detection area, the boundary point of the first object that is closest to the vehicle is identified as the target obstacle.

4. A device for identifying road obstacles, characterized in that, Includes an acquisition unit and a determination unit; The acquisition unit is used to acquire a first object and a second object within the target detection area of ​​the vehicle; the target detection area is a detection area in the driving direction of the vehicle, the first object includes the boundary point of the drivable area of ​​the vehicle, and the second object includes the target object closest to the vehicle; the target object is detected by multiple sensors. The determining unit is used to determine the second object as a target obstacle when the type of the second object is a preset type; The determining unit in the device is specifically used for: If the type of the second object is not the preset type, and the vehicle is traveling in a straight direction, then the first object and the object closest to the vehicle among the second objects are identified as the target obstacle. If the type of the second object is not the preset type, and if the vehicle's driving direction is not straight, then the target obstacle is determined from the first object and the second object based on the number of target boundary points included in the first object; the target boundary point is the boundary point located within the detection frame of the second object. The determining unit in the device is further configured to: If the number of target boundary points is greater than or equal to a preset threshold, then the boundary point closest to the vehicle among the target boundary points is determined as the target obstacle; If the number of target boundary points is less than the preset threshold, then the second object is identified as the target obstacle.

5. An electronic device, characterized in that, include: processor; Memory used to store the processor's executable instructions; The processor is configured to execute the instructions to implement the method as described in any one of claims 1 to 3.

6. A computer-readable storage medium, characterized in that, When the computer-executable instructions stored in the computer-readable storage medium are executed by the processor of the electronic device, the electronic device is capable of performing the method as described in any one of claims 1 to 3.

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