Method, device, equipment, storage medium and vehicle for determining drivable area

Abstract

The present application relates to a method, device, equipment, storage medium and vehicle for determining a drivable area, and relates to the field of vehicle control technology. The method includes: obtaining the positions of multiple target obstacle points of the vehicle, and determining the position of the target grid of the vehicle at the current moment based on the positions of the multiple target obstacle points. Further, based on the position of the target grid at the current moment, the drivable area of ​​the vehicle at the current moment is determined. The target grid is the grid closest to the vehicle within the unit area, and the number of target obstacle points included in the target grid is greater than or equal to a preset threshold; the unit area is used to constitute the obstacle detection area of ​​the vehicle. Since the target grid is the grid closest to the vehicle within the unit area, the amount of calculation for determining the drivable area can be reduced, thereby improving the efficiency of determining the drivable area.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, in particular to the field of vehicle radar application technology, and specifically to a method, device, equipment, storage medium and vehicle for determining a drivable area. Background Art

[0002] In the field of vehicle autonomous driving, the detection of drivable areas can provide path planning assistance for autonomous driving. At present, the commonly used methods for detecting drivable areas include the following three: 1. A detection method for drivable areas based on lidar. This method extracts the ground based on a pre-set threshold to detect the drivable area. 2. A detection method for drivable areas based on monocular vision. This method uses sample data to train a deep learning model and combines computer vision to detect drivable areas. 3. A detection method for drivable areas based on millimeter-wave radar point clouds. This method obtains the valid point cloud at the current moment by screening the original millimeter-wave radar point cloud, and extracts road features based on the valid point cloud at the current moment and the accumulated multi-frame point cloud to determine the drivable area.

[0003] However, the first method mentioned above cannot fully extract the ground when the ground conditions are complex, resulting in poor accuracy in detecting the drivable area. At the same time, the high cost of lidar makes it difficult to popularize its use. In the second method mentioned above, when the road conditions are complex, the sample data obtained cannot represent the actual road characteristics, resulting in poor accuracy in detecting the drivable area. At the same time, the monocular camera cannot obtain depth information, resulting in a lack of depth information in the detected drivable area and poor accuracy. The third method mentioned above processes valid point clouds and multi-frame point clouds at the same time, which increases the algorithm running time and reduces the algorithm running efficiency. Therefore, how to efficiently determine the vehicle's drivable area based on millimeter-wave radar is a technical problem that needs to be solved urgently. Summary of the Invention

[0004] This application provides a method, apparatus, device, storage medium, and vehicle for determining a drivable area, to at least address the technical problem in related technologies of being unable to efficiently determine a vehicle's drivable area based on millimeter-wave radar. The technical solution of this application is as follows:

[0005] According to a first aspect of the present application, a method for determining a drivable area is provided, comprising: obtaining positions of multiple target obstacle points of a vehicle; determining the position of a target grid of the vehicle at a current moment based on the positions of the multiple target obstacle points; the target grid being the grid closest to the vehicle within a unit area, and the number of target obstacle points included in the target grid being greater than or equal to a preset threshold; the unit area being used to constitute an obstacle detection area of ​​the vehicle; and determining the drivable area of ​​the vehicle at a current moment based on the position of the target grid at a current moment.

[0006] According to the above technical means, the target grid determined by the number of target obstacle points in this application is the grid where obstacles are present, which can improve the accuracy of determining the drivable area. At the same time, the target grid is the grid closest to the vehicle within the unit area. This can reduce the amount of calculation required to determine the drivable area, thereby improving the efficiency of determining the drivable area.

[0007] In one possible implementation, the above-mentioned obtaining the positions of multiple target obstacle points of the vehicle includes: obtaining the position of the vehicle's current obstacle point and the position of the vehicle's target grid at historical moments; the current obstacle point is the obstacle point within the obstacle detection area at the current moment; the position of the target grid at historical moments is pre-stored in the vehicle controller; and the position of the current obstacle point and the position of the target grid at historical moments are determined as the positions of the multiple target obstacle points.

[0008] According to the above technical means, the present application can effectively reduce the amount of calculation for subsequently determining the drivable area based on the target obstacle point, thereby further improving the efficiency of determining the drivable area.

[0009] In one possible implementation, determining the position of the vehicle at the current moment in the target grid based on the positions of multiple target obstacle points includes: determining the target grid at the current moment from a preset grid coordinate system based on the positions of the multiple target obstacle points; the preset grid coordinate system is constructed based on the obstacle detection area; and determining the position of the target grid at the current moment based on the positions of the target obstacle points included in the target grid at the current moment.

[0010] According to the above technical means, the present application can effectively reduce the amount of subsequent calculations for determining the vehicle's drivable area based on the position of the target grid at the current moment, and can further improve the efficiency of determining the drivable area.

[0011] In a possible implementation, the above-mentioned determining the position of the target grid at the current moment based on the positions of the target obstacle points included in the target grid at the current moment includes: determining the position of the target grid at the current moment based on the positions of the target obstacle points included in the target grid at the current moment and the number of target obstacle points included in the target grid at the current moment.

[0012] According to the above technical means, the present application can more accurately determine the position of the target grid at the current moment, thereby further improving the accuracy of subsequently determining the vehicle's drivable area based on the position of the target grid at the current moment.

[0013] According to a second aspect provided by the present application, a device for determining a drivable area is provided, including an acquisition unit and a determination unit; the acquisition unit is used to acquire the positions of multiple target obstacle points of a vehicle; the determination unit is used to determine the position of a target grid of the vehicle at the current moment based on the positions of the multiple target obstacle points after the acquisition unit acquires the positions of the multiple target obstacle points of the vehicle; the target grid is the grid closest to the vehicle within a unit area, and the number of target obstacle points included in the target grid is greater than or equal to a preset threshold; the unit area is used to constitute an obstacle detection area of ​​the vehicle; the determination unit is further used to determine the drivable area of ​​the vehicle at the current moment based on the position of the target grid at the current moment.

[0014] In one possible implementation, the acquisition unit is specifically configured to: acquire the position of a current obstacle point of the vehicle and the position of a target grid of the vehicle at a historical moment; the current obstacle point is the obstacle point within the obstacle detection area at the current moment; the position of the target grid at a historical moment is pre-stored in the vehicle controller; and the position of the current obstacle point and the position of the target grid at a historical moment are determined as the positions of multiple target obstacle points.

[0015] In one possible embodiment, the above-mentioned determination unit is specifically used to: determine the target grid at the current moment from a preset grid coordinate system based on the positions of multiple target obstacle points; the preset grid coordinate system is constructed based on the obstacle detection area; and determine the position of the target grid at the current moment based on the positions of the target obstacle points included in the target grid at the current moment.

[0016] In a possible implementation, the determining unit is specifically configured to determine the position of the target grid at the current moment according to the positions of the target obstacle points included in the target grid at the current moment and the number of the target obstacle points included in the target grid at the current moment.

[0017] According to the third aspect provided by the present application, an electronic device is provided, comprising: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to execute instructions to implement the method of the above-mentioned first aspect and any possible implementation method thereof.

[0018] According to the 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 an electronic device, the electronic device is enabled to execute the method in the above-mentioned first aspect and any possible implementation method thereof.

[0019] According to a fifth aspect provided by the present application, a vehicle is provided, comprising: a controller for executing the method in the above-mentioned first aspect and any possible implementation manner thereof.

[0020] According to the sixth aspect provided by the present application, a computer program product is provided, which includes computer instructions. When the computer instructions are executed on an electronic device, the electronic device executes the method of the above-mentioned first aspect and any possible implementation method thereof.

[0021] Therefore, the above technical features of this application have the following beneficial effects:

[0022] (1) The target grid determined by the number of target obstacle points is the grid with obstacles, which can improve the accuracy of determining the drivable area. At the same time, the target grid is the grid closest to the vehicle within the unit area. This can reduce the amount of calculation required to determine the drivable area, thereby improving the efficiency of determining the drivable area.

[0023] (2) It can effectively reduce the amount of computation required to determine the drivable area based on the target obstacle points, thereby further improving the efficiency of determining the drivable area.

[0024] (3) It can effectively reduce the amount of computation required to determine the vehicle's drivable area based on the current position of the target grid, and can further improve the efficiency of determining the drivable area.

[0025] (4) The position of the target grid at the current moment can be determined more accurately, thereby further improving the accuracy of subsequently determining the vehicle's drivable area based on the position of the target grid at the current moment.

[0026] It should be noted that the technical effects brought about by any implementation method in the second to sixth aspects can refer to the technical effects brought about by the corresponding implementation method in the first aspect, and will not be repeated here.

[0027] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The drawings herein are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification are used to explain the principles of the present application, and do not constitute an improper limitation on the present application.

[0029] Figure 1 is a flow chart showing a method for determining a drivable area according to an exemplary embodiment;

[0030] Figure 2 is a flowchart illustrating another method for determining a drivable area according to an exemplary embodiment;

[0031] Figure 3 is a flowchart illustrating another method for determining a drivable area according to an exemplary embodiment;

[0032] Figure 4 is a flowchart illustrating another method for determining a drivable area according to an exemplary embodiment;

[0033] Figure 5 is a flowchart illustrating another method for determining a drivable area according to an exemplary embodiment;

[0034] Figure 6 is a block diagram of a device for determining a drivable area according to an exemplary embodiment;

[0035] Figure 7 It is a block diagram of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0036] In order to enable ordinary people 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 clearly and completely described below with reference to the accompanying drawings.

[0037] It should be noted that the terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate so that the embodiments of the application described herein can be implemented in an order other than those illustrated or described herein. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0038] For ease of understanding, the method for determining the drivable area provided in this application is described in detail below with reference to the accompanying drawings.

[0039] Figure 1 FIG. 1 is a flow chart showing a method for determining a drivable area according to an exemplary embodiment. The method for determining a drivable area can be applied to a controller in a vehicle. Figure 1 As shown, the method for determining the drivable area includes the following steps:

[0040] S101. A controller obtains positions of multiple target obstacle points of a vehicle.

[0041] As a possible implementation method, the controller receives point cloud data sent by multiple millimeter-wave radars via Ethernet, and filters out points in the point cloud data whose data volume is not a preset data volume, or whose position (for example, three-dimensional coordinates (x, y, z)) is not within the field of view (FOV) of the millimeter-wave radar. The controller synchronizes the point cloud data so that the point cloud data is at the current moment, thereby obtaining the point cloud data at the current moment. The point cloud data includes the position of each point (for example, three-dimensional coordinates (x, y, z)), reflection intensity, and signal-to-noise ratio.

[0042] Next, the controller acquires vehicle data and synchronizes it with the current time. This data includes vehicle speed, angular velocity, angular rate, historical vehicle coordinate systems, and vehicle position. The controller then constructs the current vehicle coordinate system based on the vehicle's position and the obstacle detection zone.

[0043] The controller then spatially synchronizes the current point cloud data, converting the point cloud data from multiple millimeter-wave radar coordinate systems to the current vehicle coordinate system. The controller then filters the point cloud data based on its position (e.g., 3D coordinates (x, y, z)), reflection intensity, and signal-to-noise ratio. It removes points whose height (e.g., z in 3D coordinates) is greater than or equal to a preset height, whose reflection intensity is less than a preset intensity, and whose signal-to-noise ratio is less than a preset signal-to-noise ratio.

[0044] Furthermore, the controller obtains historical point cloud data stored in the controller and converts the historical point cloud data to the current vehicle coordinate system based on the historical point cloud data, vehicle speed, angular velocity, angular rate, and the historical vehicle coordinate system. The controller filters the historical point cloud data based on the vehicle's obstacle detection zone, filtering out points in the historical point cloud data that are not within the obstacle detection zone.

[0045] Finally, the controller determines the points included in the filtered point cloud data at the current moment and the point cloud data at historical moments as multiple obstacle points, and determines the positions (for example, three-dimensional coordinates (x, y, z)) of the points included in the filtered point cloud data at the current moment and the point cloud data at historical moments as the positions of multiple target obstacle points.

[0046] It should be noted that the millimeter wave radar may be a short-range millimeter wave radar or a four-dimensional (4D) millimeter wave radar.

[0047] S102: The controller determines the position of the vehicle at the current target grid according to the positions of the multiple target obstacle points.

[0048] The target grid is the grid closest to the vehicle within the unit area, and the number of target obstacle points included in the target grid is greater than or equal to a preset threshold. The unit area is used to constitute the vehicle's obstacle detection area.

[0049] As a possible implementation method, the controller determines the current target grid from a preset grid coordinate system based on the positions of multiple target obstacle points, and determines the position of the current target grid based on the positions of the target obstacle points included in the current target grid.

[0050] For the specific implementation of this step, please refer to the subsequent description of the embodiments of this application and will not be repeated here.

[0051] S103: The controller determines the drivable area of ​​the vehicle at the current moment according to the position of the target grid at the current moment.

[0052] As a possible implementation manner, the controller determines the drivable area of ​​the vehicle at the current moment according to the position of the target grid and the position of the vehicle at the current moment.

[0053] It is understandable that the prior art typically determines a vehicle's drivable area based on the current valid point cloud and accumulated multi-frame point clouds. However, the large number of accumulated multi-frame point clouds increases the data processing workload and reduces data processing efficiency, making it difficult to efficiently determine the vehicle's drivable area. The present application determines the vehicle's position at the current target grid based on the locations of multiple target obstacle points. Furthermore, the vehicle's drivable area at the current moment is determined based on the position of the target grid at the current moment. The target grid is the grid closest to the vehicle within a unit area, and the number of target obstacle points included in the target grid is greater than or equal to a preset threshold. The unit area constitutes the vehicle's obstacle detection area. In this way, the target grid determined by the number of target obstacle points is the grid containing obstacles, which can improve the accuracy of determining the drivable area. Furthermore, the target grid is the grid closest to the vehicle within the unit area. This reduces the computational complexity of determining the drivable area, thereby improving the efficiency of determining the drivable area.

[0054] In some embodiments, in order to obtain the location of the target obstacle point, such as Figure 2 As shown, the above S101 can be implemented as follows:

[0055] S201: The controller obtains the current obstacle point position of the vehicle and the target grid position of the vehicle at a historical moment.

[0056] The current obstacle point is the obstacle point at the current moment within the obstacle detection area. The locations of the target grids at historical moments are pre-stored in the vehicle's controller. The target grid is the grid closest to the vehicle within the unit area, and the number of target obstacle points contained in the target grid is greater than or equal to a preset threshold. The unit area constitutes the vehicle's obstacle detection area.

[0057] As a possible implementation method, the controller receives point cloud data sent by multiple millimeter-wave radars via Ethernet and filters out points in the point cloud data whose data volume is not a preset data volume or whose position (for example, three-dimensional coordinates (x, y, z)) is not within the FOV of the millimeter-wave radar. The controller synchronizes the point cloud data so that the point cloud data is at the current moment, thereby obtaining the point cloud data at the current moment. The point cloud data includes the position of each point (for example, three-dimensional coordinates (x, y, z)), reflection intensity, and signal-to-noise ratio.

[0058] Next, the controller acquires vehicle data and synchronizes it with the current time. This data includes vehicle speed, angular velocity, angular rate, historical vehicle coordinate systems, and vehicle position. The controller then constructs the current vehicle coordinate system based on the vehicle's position and the obstacle detection zone.

[0059] The controller then spatially synchronizes the current point cloud data, converting the point cloud data from multiple millimeter-wave radar coordinate systems to the current vehicle coordinate system. The controller then filters the point cloud data based on its position (e.g., 3D coordinates (x, y, z)), reflection intensity, and signal-to-noise ratio. It removes points whose height (e.g., z in 3D coordinates) is greater than or equal to a preset height, whose reflection intensity is less than a preset intensity, and whose signal-to-noise ratio is less than a preset signal-to-noise ratio.

[0060] The controller then retrieves the historical target grid stored in the controller and converts the historical target grid to the current vehicle coordinate system based on the historical target grid, vehicle speed, angular velocity, angular rate, and the historical vehicle coordinate system. The controller then filters the historical target grid based on the vehicle's obstacle detection zone, removing points in the historical target grid that are not within the obstacle detection zone.

[0061] Finally, the controller determines the points included in the filtered point cloud data at the current moment as the current obstacle points, and obtains the filtered target grid at the historical moment.

[0062] S202: The controller determines the position of the current obstacle point and the position of the target grid at a historical moment as the positions of multiple target obstacle points.

[0063] It can be understood that since the target grid at the historical moment is the grid closest to the vehicle within the unit area, the number of target obstacle points determined by the target grid at the historical moment is reduced, which can effectively reduce the amount of calculation required to subsequently determine the drivable area based on the target obstacle points, thereby further improving the efficiency of determining the drivable area.

[0064] In some embodiments, in order to determine the current position of the target grid, such as Figure 3 As shown, the above S102 can be implemented as follows:

[0065] S301. The controller determines the target grid at the current moment from a preset grid coordinate system according to the positions of multiple target obstacle points.

[0066] Among them, the preset grid coordinate system is constructed based on the obstacle detection area.

[0067] As one possible implementation, the controller constructs a preset grid coordinate system based on the vehicle's obstacle detection area, lateral resolution, and longitudinal resolution. The controller then inputs the position, lateral resolution, and longitudinal resolution of each target obstacle point into a preset formula 1 to obtain the lateral index and longitudinal index of each target obstacle point. Formula 1 can be as follows:

[0068] width index =floor(abs(width min )+point x ) / WIDTH_RESOLUTION

[0069] length index =floor(abs(length min )+point y ) / LENGTH-rESOLUTION formula one

[0070] Among them, width index is the horizontal index of the target obstacle point, floor(·) is the rounding operation, abs(·) is the absolute value operation, width min is the minimum horizontal axis index in the preset grid coordinate system, point x is the horizontal coordinate of the target obstacle point (for example, x in the three-dimensional coordinates (x, y, z)), WIDTH_RESOLUTION is the horizontal resolution, length ind2x is the vertical index of the target obstacle point, length min is the minimum vertical axis index in the preset grid coordinate system, point yis the longitudinal coordinate of the target obstacle point (for example, the y in the three-dimensional coordinates (x, y, z)), and LENGTH_RESOLUTION is the longitudinal resolution.

[0071] Furthermore, the controller determines the number of target obstacle points included in each grid in the preset grid coordinate system based on the horizontal index and the vertical index of each target obstacle point in the multiple target obstacle points obtained, and determines the grid in which the number of target obstacle points included in the preset grid coordinate system is greater than or equal to the preset threshold as the first grid.

[0072] Finally, the controller determines, based on the unit area, the first grid in the unit area that is closest to the origin of the preset grid coordinate system (eg, the vehicle or the center of the rear axle of the vehicle) as the target grid at the current moment.

[0073] It should be noted that the unit area is used to constitute the obstacle detection area of ​​the vehicle.

[0074] S302: The controller determines the position of the target grid at the current moment according to the position of the target obstacle point included in the target grid at the current moment.

[0075] As a possible implementation manner, the controller determines the position of the target grid at the current moment according to the positions of the target obstacle points included in the target grid at the current moment and the number of the target obstacle points included in the target grid at the current moment.

[0076] For the specific implementation of this step, please refer to the subsequent description of the embodiments of this application and will not be repeated here.

[0077] It can be understood that by mapping multiple target obstacle points to a preset grid coordinate system, the amount of computation required to determine the vehicle's drivable area based on the current target grid position can be effectively reduced, which can further improve the efficiency of determining the drivable area.

[0078] In some embodiments, in order to determine the current position of the target grid, such as Figure 4 As shown, the above S302 can be implemented as follows:

[0079] S401: The controller determines the position of the target grid at the current moment according to the position of the target obstacle point included in the target grid at the current moment and the number of the target obstacle points included in the target grid at the current moment.

[0080] As a possible implementation, the controller inputs the positions of the target obstacle points included in the target grid at the current moment and the number of target obstacle points included in the target grid at the current moment into a preset formula 2, and determines the average horizontal coordinate and average vertical coordinate of the target grid at the current moment as the position of the target grid at the current moment. Formula 2 can be expressed as follows:

[0081]

[0082]

[0083] Among them, n is the number of target obstacle points in the target grid at the current moment, grid x,n is the average horizontal coordinate of the target grid at the current moment after the nth update, grid x,n-1 is the average horizontal coordinate of the target grid at the current moment after the n-1th update, point x,n is the horizontal coordinate of the nth target obstacle point in the target grid at the current moment, grid y,n is the average vertical coordinate of the target grid at the current moment after the nth update, grid y,n-1 is the average vertical coordinate of the target grid at the current moment after the n-1th update, point y,n It is the longitudinal coordinate of the nth target obstacle point in the target grid at the current moment.

[0084] For example, taking the case where the number of target obstacle points included in the target grid at the current moment is 3, the position of target obstacle point 1 is (x1, y1), the position of target obstacle point 2 is (x2, y2), and the position of target obstacle point 3 is (x3, y3), the controller inputs the position (x1, y1) of target obstacle point 1 and the number of target obstacle points 1 into Formula 2, and obtains the horizontal coordinate of the target grid at the current moment after the first update as x1, and the vertical coordinate of the target grid at the current moment after the first update as y1. Then, the controller inputs the position (x2, y2) of target obstacle point 2, the horizontal coordinate x1 of the target grid at the current moment after the first update, the vertical coordinate y1 of the target grid at the current moment after the first update, and the number of target obstacle points 2 into Formula 2, and obtains the horizontal coordinate of the target grid at the current moment after the second update as The vertical coordinate of the target grid at the current moment after the second update is

[0085] Afterwards, the controller sets the position of the target obstacle point 3 (x3, y3), And the number of target obstacle points 3 is input into the above formula 2, and the horizontal coordinate of the target grid at the current moment after the third update is obtained as And the vertical coordinate of the target grid at the current moment after the third update is The controller will Determine the location of the target grid at the current moment.

[0086] It can be understood that, based on the position of the target obstacle points included in the target grid at the current moment and the number of target obstacle points included in the target grid at the current moment, the position of the target grid at the current moment can be determined more accurately, thereby further improving the accuracy of subsequently determining the vehicle's drivable area based on the position of the target grid at the current moment.

[0087] In some embodiments, in order to efficiently determine the drivable area of ​​the vehicle, such as Figure 5 As shown, the method for determining the drivable area provided in the embodiment of the present application can also be implemented in the following manner:

[0088] S501. The controller receives point cloud data sent by multiple millimeter-wave radars via Ethernet.

[0089] S502: The controller performs time synchronization on the received point cloud data to obtain the point cloud data at the current moment.

[0090] S503: The controller obtains vehicle data and performs time synchronization on the vehicle data so that the vehicle data is at the current moment.

[0091] S504: The controller performs spatial synchronization on the point cloud data at the current moment to obtain the spatially synchronized point cloud data at the current moment.

[0092] S505: The controller filters the point cloud data at the current moment after spatial synchronization to obtain the filtered point cloud data at the current moment.

[0093] S506: The controller determines the points included in the filtered point cloud data at the current moment as current obstacle points.

[0094] S507: The controller obtains the historical target grid stored in the controller.

[0095] S508 : The controller converts the historical moment target grid into the vehicle coordinate system at the current moment, and obtains the historical moment target grid in the vehicle coordinate system at the current moment.

[0096] S509: The controller determines the position of the current obstacle point and the position of the target grid at the historical moment as the positions of multiple target obstacle points.

[0097] S510: The controller constructs a preset grid coordinate system according to the obstacle detection area, lateral resolution, and longitudinal resolution of the vehicle.

[0098] S511. The controller determines the target grid at the current moment from a preset grid coordinate system according to the positions of multiple target obstacle points.

[0099] S512: The controller saves the current target grid in the controller.

[0100] S513: The controller determines the position of the target grid at the current moment according to the position of the target obstacle point included in the target grid at the current moment and the number of the target obstacle points included in the target grid at the current moment.

[0101] S514: The controller determines the drivable area of ​​the vehicle at the current moment according to the position of the target grid at the current moment.

[0102] The above mainly introduces the solution provided by the embodiment of the present application from the perspective of the method. In order to realize the above functions, the device for determining the drivable area or the electronic device or the controller includes a hardware structure and / or software module corresponding to the execution of each function. It should be easy for those skilled in the art to realize that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0103] The embodiment of the present application can, according to the above method, exemplarily divide the functional modules of the device for determining the drivable area or the electronic device or the controller. For example, the device for determining the drivable area or the electronic device or the controller may include various functional modules corresponding to the various functional divisions, or two or more functions may be integrated into one processing module. The above-mentioned integrated modules can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiment of the present application is schematic and is only a logical functional division. There may be other division methods in actual implementation.

[0104] Figure 6 FIG. 6 is a block diagram of a device for determining a drivable area according to an exemplary embodiment. The device 600 for determining a drivable area can be applied to a controller in a vehicle. Figure 6 The device 600 for determining a drivable area includes an acquisition unit 601 and a determination unit 602 .

[0105] The acquisition unit 601 is used to acquire the positions of multiple target obstacle points of the vehicle.

[0106] Determination unit 602 is configured to determine the vehicle's current position in a target grid based on the positions of the multiple target obstacle points acquired by acquisition unit 601. The target grid is the grid closest to the vehicle within a unit area, and the number of target obstacle points included in the target grid is greater than or equal to a preset threshold. The unit area constitutes the vehicle's obstacle detection area.

[0107] The determining unit 602 is further configured to determine the drivable area of ​​the vehicle at the current moment according to the position of the target grid at the current moment.

[0108] Optionally, to obtain the location of the target obstacle point, such as Figure 6 As shown, the acquisition unit 601 is specifically configured to:

[0109] Obtain the vehicle's current obstacle point location and the vehicle's historical target grid location. The current obstacle point is the obstacle point within the obstacle detection area at the current moment. The historical target grid locations are pre-stored in the vehicle's controller.

[0110] The position of the current obstacle point and the position of the target grid at the historical moment are determined as the positions of multiple target obstacle points.

[0111] Optionally, to determine the current position of the target grid, such as Figure 6 As shown, the above-mentioned determination unit 602 is specifically used to:

[0112] Based on the locations of multiple target obstacle points, the current target grid is determined from a preset grid coordinate system. The preset grid coordinate system is constructed based on the obstacle detection area.

[0113] The position of the target grid at the current moment is determined according to the position of the target obstacle point included in the target grid at the current moment.

[0114] Optionally, to determine the current position of the target grid, such as Figure 6 As shown, the above-mentioned determination unit 602 is specifically used to:

[0115] The position of the target grid at the current moment is determined according to the position of the target obstacle point included in the target grid at the current moment and the number of the target obstacle points included in the target grid at the current moment.

[0116] Regarding the apparatus in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0117] Figure 7 FIG. 1 is a block diagram of an electronic device according to an exemplary embodiment. Figure 7As shown, the electronic device 700 includes but is not limited to: a processor 701 and a memory 702 .

[0118] The memory 702 is configured to store executable instructions of the processor 701. It is understood that the processor 701 is configured to execute instructions to implement the method for determining the drivable area in the above embodiment.

[0119] It should be noted that those skilled in the art can understand that Figure 7 The electronic device structure shown in the figure does not limit the electronic device, and the electronic device may include Figure 7 More or fewer components may be shown, or certain components may be combined, or the components may be arranged differently.

[0120] The processor 701 is the control center of the electronic device. It connects the various parts of the entire electronic device using various interfaces and lines. By running or executing software programs and / or modules stored in the memory 702 and calling data stored in the memory 702, it performs various functions of the electronic device and processes data, thereby monitoring the electronic device as a whole. The processor 701 may include one or more processing units. Optionally, the processor 701 may 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 handles wireless communications. It is understood that the above-mentioned modem processor may not be integrated into the processor 701.

[0121] The memory 702 can be used to store software programs and various data. The memory 702 may primarily include a program storage area and a data storage area. The program storage area may store an operating system and application programs required by at least one functional module (e.g., an acquisition unit and a determination unit). Furthermore, the memory 702 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage device.

[0122] In an exemplary embodiment, a computer-readable storage medium including instructions is also provided, such as a memory 702 including instructions. The above instructions can be executed by the processor 701 of the electronic device 700 to implement the method for determining the drivable area in the above embodiment.

[0123] In actual implementation, Figure 6 The functions of the acquisition unit 601 and the determination unit 602 can be obtained by Figure 7 The processor 701 in the embodiment calls the computer program stored in the memory 702. The specific execution process can be referred to the description of the method for determining the drivable area in the above embodiment, which will not be repeated here.

[0124] Optionally, the computer-readable storage medium may be a non-temporary computer-readable storage medium, for example, the non-temporary computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0125] In an exemplary embodiment, the present application further provides a vehicle, which includes a controller for executing the above-mentioned method for determining a drivable area.

[0126] In an exemplary embodiment, the present application also provides a computer program product including one or more instructions, which can be executed by a processor of an electronic device to complete the method for determining a drivable area in the above embodiment.

[0127] It should be noted that when the instructions in the above-mentioned computer-readable storage medium or one or more instructions in the computer program product are executed by the processor of the electronic device, the various processes of the embodiment of the above-mentioned method for determining the drivable area are implemented, and the same technical effect as the above-mentioned method for determining the drivable area can be achieved. To avoid repetition, they will not be repeated here.

[0128] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0129] In the several embodiments provided in this 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 merely schematic. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0130] Units described as separate components may or may not be physically separate, and components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place or distributed in multiple places. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0131] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0132] If the integrated unit is implemented 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 this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a device (which can be a single-chip microcomputer, chip, etc.) or a processor to execute all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.

[0133] The above are only specific embodiments of the present application, but the scope of protection of the present application is not limited thereto. Any changes or replacements within the technical scope disclosed in this application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A method for determining a drivable area, characterized in that: The method comprises: Obtaining the current position of the vehicle's obstacle point and the vehicle's target grid position at a historical moment; the current obstacle point is the obstacle point within the obstacle detection area at the current moment; the target grid position at the historical moment is pre-stored in the vehicle's controller; Determine the position of the current obstacle point and the position of the target grid at the historical moment as the positions of multiple target obstacle points; Determining the current position of the vehicle at a target grid based on the positions of the multiple target obstacle points; the target grid is the grid closest to the vehicle within a unit area, and the number of target obstacle points included in the target grid is greater than or equal to a preset threshold; the unit area is used to constitute the obstacle detection area of ​​the vehicle; Determining a drivable area of ​​the vehicle at the current moment according to the position of the target grid at the current moment; The current target grid is determined by: Constructing a preset grid coordinate system according to the obstacle detection area, horizontal resolution, and vertical resolution; Determining a horizontal index and a vertical index of each target obstacle point among the multiple target obstacle points based on a position, a horizontal resolution, and a vertical resolution of each target obstacle point among the multiple target obstacle points; Determining the number of target obstacle points included in each grid in the preset grid coordinate system based on the transverse index and the longitudinal index of each target obstacle point in the plurality of target obstacle points, and determining a grid in which the number of target obstacle points included in the preset grid coordinate system is greater than or equal to a preset threshold as a first grid; The first grid closest to the origin of the preset grid coordinate system in the unit area is determined as the target grid at the current moment.

2. The method according to claim 1, characterized in that The determining, based on the positions of the plurality of target obstacle points, the position of the vehicle at the target grid at the current moment includes: Determining the target grid at the current moment from a preset grid coordinate system according to the positions of the multiple target obstacle points; the preset grid coordinate system is constructed based on the obstacle detection area; The position of the target grid at the current moment is determined according to the position of the target obstacle point included in the target grid at the current moment.

3. The method according to claim 2, characterized in that The determining the position of the target grid at the current moment according to the position of the target obstacle point included in the target grid at the current moment includes: The position of the target grid at the current moment is determined according to the position of the target obstacle point included in the target grid at the current moment and the number of the target obstacle points included in the target grid at the current moment.

4. A device for determining a drivable area, characterized in that: The device includes an acquisition unit and a determination unit; The acquisition unit is used to acquire the position of the vehicle's current obstacle point and the vehicle's position on the target grid at a historical moment; the current obstacle point is the obstacle point within the obstacle detection area at the current moment; The position of the target grid at the historical moment is pre-stored in the controller of the vehicle; The determining unit is configured to determine the position of the current obstacle point and the position of the target grid at the historical moment as the positions of the multiple target obstacle points; The determining unit is further configured to determine the position of the vehicle at the target grid at the current moment according to the positions of the multiple target obstacle points after the acquiring unit acquires the positions of the multiple target obstacle points of the vehicle; The target grid is the grid closest to the vehicle within the unit area, and the number of target obstacle points included in the target grid is greater than or equal to a preset threshold; the unit area is used to constitute the obstacle detection area of ​​the vehicle; The determining unit is further configured to determine a drivable area of ​​the vehicle at the current moment according to the position of the target grid at the current moment; The determining unit is further configured to construct a preset grid coordinate system according to the obstacle detection area, the horizontal resolution, and the vertical resolution; The determining unit is further configured to determine a horizontal index and a vertical index of each target obstacle point among the multiple target obstacle points based on the position, horizontal resolution, and vertical resolution of each target obstacle point among the multiple target obstacle points; The determining unit is further configured to determine the number of target obstacle points included in each grid in the preset grid coordinate system based on the horizontal index and the vertical index of each target obstacle point in the plurality of target obstacle points, and determine a grid in which the number of target obstacle points included in the preset grid coordinate system is greater than or equal to a preset threshold as a first grid; The determining unit is further configured to determine the first grid closest to the origin of the preset grid coordinate system in the unit area as the target grid at the current moment.

5. The device according to claim 4, characterized in that The determining unit is specifically configured to: Determining the target grid at the current moment from a preset grid coordinate system according to the positions of the multiple target obstacle points; the preset grid coordinate system is constructed based on the obstacle detection area; The position of the target grid at the current moment is determined according to the position of the target obstacle point included in the target grid at the current moment.

6. The device according to claim 5, characterized in that The determining unit is specifically configured to: The position of the target grid at the current moment is determined according to the position of the target obstacle point included in the target grid at the current moment and the number of the target obstacle points included in the target grid at the current moment.

7. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is configured to execute the instructions to implement the method according to any one of claims 1 to 3.

8. A computer-readable storage medium, characterized in that When the computer-executable instructions stored in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device can perform the method according to any one of claims 1 to 3.

9. A vehicle, characterized in that: include: A controller for executing the method according to any one of claims 1 to 3.

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