Target monitoring method and device, vehicle and computer readable storage medium

Abstract

This invention discloses a target monitoring method, device, vehicle, and computer-readable storage medium. The method includes acquiring environmental information of a target object, acquiring a set of monitoring targets corresponding to the target object, identifying interfering targets in the set of monitoring targets based on the environmental information, deleting the interfering targets from the set of monitoring targets, and determining a set of valid targets. Therefore, by identifying and removing interfering targets from the set of monitoring targets, the influence of interfering targets can be avoided during blind spot monitoring of the target object, thereby reducing false alarms caused by interfering targets and optimizing the blind spot monitoring function.

Description

Technical Field

[0001] This invention relates to the field of transportation technology, and more specifically to a target monitoring method, device, vehicle, and computer-readable storage medium. Background Technology

[0002] Monitoring objects within the blind spot of a target device can provide guidance for its use and operation, and is also crucial for optimizing its functionality. Taking blind spot monitoring in vehicles as an example, BSD (Blind Spot Detection) is a high-tech safety assistance system that detects whether vehicles are approaching or overtaking from behind the vehicle and in the blind spot of the rearview mirror, and promptly alerts the driver when such vehicles are detected. Through blind spot monitoring, continuous detection and alerts are provided during driving, preventing traffic accidents caused by potential hazards such as inclement weather, driver negligence, blind spots in rearview mirrors, and novice drivers.

[0003] However, existing blind spot monitoring systems based on millimeter-wave radar are prone to false alarms under special environmental conditions, such as when driving on elevated roads or in tunnels, which affects the user experience and may even affect road driving safety in severe cases. Summary of the Invention

[0004] In view of this, embodiments of the present invention provide a target monitoring method, device, vehicle, and computer-readable storage medium to reduce false alarms during blind spot monitoring and optimize blind spot monitoring functionality.

[0005] In a first aspect, embodiments of the present invention provide a target monitoring method, the method comprising:

[0006] Acquire environmental information of the target object, including roadside landmarks corresponding to the location of the target object;

[0007] Obtain the set of monitoring targets corresponding to the target object;

[0008] Based on the environmental information, determine the interfering targets in the set of monitoring targets;

[0009] Remove the interfering target from the set of monitored targets to determine the set of valid targets.

[0010] Furthermore, the method also includes:

[0011] The blind spot monitoring and alarm process is executed based on the set of effective targets.

[0012] Furthermore, determining the interfering targets in the monitoring target set based on the environmental information includes:

[0013] In response to the distance between the target object and the curb sign being less than a preset distance, the monitoring target located on the side of the curb sign is identified as the interference target.

[0014] Furthermore, the curb markers include curbs, fences, medians, and / or tunnel walls.

[0015] Furthermore, obtaining the set of monitoring targets corresponding to the target object includes:

[0016] Monitoring data is acquired based on sensors installed on the target object;

[0017] The set of monitoring targets is determined based on the monitoring data.

[0018] Furthermore, obtaining the environmental information of the target object includes:

[0019] Obtain the location information of the target object;

[0020] The location information is matched with the map information to determine the roadside landmarks corresponding to the location of the target object, thereby determining the environmental information.

[0021] Secondly, embodiments of the present invention provide a target monitoring device, the device comprising:

[0022] An information acquisition unit is used to acquire environmental information of a target object, the environmental information including roadside landmarks corresponding to the location of the target object;

[0023] A set acquisition unit is used to acquire the set of monitoring targets corresponding to the target object;

[0024] A target determination unit is used to determine interference targets in the set of monitored targets based on the environmental information.

[0025] The target deletion unit is used to delete the interfering target from the set of monitored targets and determine the set of valid targets.

[0026] Furthermore, the target determination unit is specifically used to determine the monitoring target located on the side of the roadside sign as the interference target in response to the distance between the target object and the roadside sign being less than a preset distance.

[0027] Thirdly, embodiments of the present invention provide a vehicle, the vehicle comprising:

[0028] A positioning system for acquiring environmental information of a target object, the environmental information including roadside landmarks corresponding to the location of the target object;

[0029] A target monitoring system is used to acquire a set of monitoring targets corresponding to the target object. In response to the distance between the target object and the roadside marker being less than a preset distance, the monitoring target located on the side of the roadside marker is identified as the interference target, the interference target is deleted from the set of monitoring targets, and a set of valid targets is determined.

[0030] Furthermore, the target monitoring system includes:

[0031] A sensor is used to acquire monitoring data so that the target monitoring system can determine the set of monitoring targets corresponding to the target object based on the monitoring data.

[0032] Fourthly, embodiments of the present invention provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the method described in any of the preceding claims.

[0033] The technical solution of this embodiment obtains the environmental information of the target object and the set of monitoring targets corresponding to the target object, determines the interfering targets in the set of monitoring targets based on the environmental information, deletes the interfering targets from the set of monitoring targets, and determines the set of valid targets. This enables the interference of interfering targets to be avoided during the blind spot monitoring process of the target object, thereby reducing false alarms caused by interfering targets during the blind spot monitoring process of the target object and optimizing the blind spot monitoring function. Attached Figure Description

[0034] The above and other objects, features and advantages of the present invention will become clearer from the following description of embodiments of the invention with reference to the accompanying drawings, in which:

[0035] Figure 1 This is a flowchart of the target monitoring method according to an embodiment of the present invention;

[0036] Figure 2 This is a flowchart illustrating the process of determining environmental information of a target object according to an embodiment of the present invention;

[0037] Figure 3 This is a flowchart illustrating the process of determining the set of monitoring targets according to an embodiment of the present invention;

[0038] Figure 4 This is a schematic diagram illustrating the determination of a valid target set according to an embodiment of the present invention;

[0039] Figure 5 This is a schematic diagram of the target monitoring and control system according to an embodiment of the present invention;

[0040] Figure 6 This is another flowchart of the target monitoring method according to an embodiment of the present invention;

[0041] Figure 7This is a flowchart of the interference target detection process according to an embodiment of the present invention;

[0042] Figure 8 This is a schematic diagram of the target monitoring device according to an embodiment of the present invention;

[0043] Figure 9 This is another schematic diagram of the target monitoring device according to an embodiment of the present invention;

[0044] Figure 10 This is a schematic diagram of a vehicle according to an embodiment of the present invention. Detailed Implementation

[0045] The present invention is described below based on embodiments, but the invention is not limited to these embodiments. In the detailed description of the invention below, certain specific details are described in detail. Those skilled in the art will fully understand the invention even without these details. To avoid obscuring the essence of the invention, well-known methods, processes, flows, elements, and circuits are not described in detail.

[0046] Furthermore, those skilled in the art should understand that the accompanying drawings provided herein are for illustrative purposes only and are not necessarily drawn to scale.

[0047] Unless the context explicitly requires it, words such as "including" or "contains" in the instruction manual should be interpreted as including rather than exclusive or exhaustive; that is, meaning "including but not limited to".

[0048] In the description of this invention, it should be understood that the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, in the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0049] With the development of intelligent and digital technologies, blind spot monitoring functions can be applied to various industries, providing guidance for the use and operation of different objects. However, false alarms also exist in the blind spot monitoring process and urgently need optimization. In view of this, embodiments of the present invention provide a target monitoring method, device, vehicle, and computer-readable storage medium to reduce false alarms in the blind spot monitoring system, optimize the blind spot monitoring function, and thereby improve the user experience.

[0050] The following explanation uses a blind spot monitoring system for vehicles in the field of autonomous driving as an example. It should be understood that the method in this embodiment can also be applied to blind spot monitoring processes in other scenarios, such as blind spot monitoring in scenarios where robots transport goods, and this is not a limitation.

[0051] Blind Spot Detection (BSD) systems are safety assistance features that alert the driver to vehicles overtaking from the side and rear. They typically utilize millimeter-wave radar installed at the left and right rear corners of the vehicle. However, when driving on elevated roads or in tunnels (tunnel walls, elevated road railings, or metal fences), BSD systems are prone to false alarms. For example, when a vehicle is traveling in its left or right lane, due to the limitations of millimeter-wave radar in detecting and classifying stationary targets, the electromagnetic waves emitted by the corresponding millimeter-wave radar at the vehicle's side corner may be misjudged and clustered as regular targets with speed (two-wheeled vehicles or cars, commonly known as ghost targets) when they hit a railing or wall, thus triggering a BSD alarm. This negatively impacts the user experience and, in severe cases, can jeopardize road safety. Furthermore, the user experience caused by BSD false triggers has long been a major concern for OEMs and suppliers of corner radar-related ADAS (Advanced Driver Assistance Systems) features.

[0052] Figure 1 This is a flowchart of the target monitoring method according to an embodiment of the present invention. Figure 1 As shown, the target monitoring method in this embodiment includes the following steps.

[0053] In step S110, the environmental information of the target object is obtained.

[0054] In this embodiment, taking a vehicle as the target object, the environmental information of the target object can be determined based on the vehicle's location information. The environmental information of the target object includes the roadside signs corresponding to the location of the target object.

[0055] Optionally, curb markers include curbs, fences, guardrails, and / or tunnel walls. It should be understood that in other scenarios that cause false alarms in the blind spot monitoring system, the curb markers in this embodiment can also be other markers, such as roadblocks set up for road construction, or, in the scenario of robots transporting goods, the curb markers can be shelves near the robot's movement path, etc. This is only an example and is not intended to limit the specific form of the curb markers.

[0056] In step S120, the set of monitoring targets corresponding to the target object is obtained.

[0057] Optionally, in this embodiment, the set of monitoring targets for the target object can be implemented based on sensors installed on the target object. These sensors can be millimeter-wave radar, ultrasonic radar, lidar, etc. Further, in this embodiment, millimeter-wave radar is used, and the set of monitoring targets corresponding to the target object is determined by the monitoring data collected by the sensors on the target object.

[0058] Furthermore, the set of monitored targets can include valid targets and / or interfering targets. Valid targets are actual targets within the alarm area that can trigger the blind spot monitoring alarm process. For example, when a vehicle is traveling in the rightmost lane, other vehicles near the left side of the vehicle that tend to speed are valid targets. Interfering targets are ghost targets within the alarm area. For example, when a vehicle is traveling in the rightmost lane, the clustering of locations where electromagnetic waves emitted from the right side of the vehicle are reflected back by the wall constitutes interfering targets.

[0059] In step S130, interference targets in the monitoring target set are determined based on environmental information.

[0060] In this embodiment, after obtaining the monitoring target set corresponding to the target object, since the probability of interfering targets appearing at the corresponding side angle is higher when the vehicle is traveling in the leftmost or rightmost lane of the current road direction, this embodiment determines the interfering targets in the monitoring target set based on the environmental information of the target object in order to improve monitoring efficiency.

[0061] Optionally, in this embodiment, when determining interfering targets in the set of monitored targets, in response to the distance between the target object and the curb sign being less than a preset distance, the monitored target located on the curb sign side is determined as an interfering target. The preset distance in this embodiment can be determined according to the specific usage scenario. Optionally, the preset distance can be determined based on the lateral width of the vehicle, for example, less than or equal to the lateral width of the vehicle. Therefore, when the distance between the target object and the curb sign is less than this preset distance, it is obviously impossible for a vehicle to be inserted between the target object and the curb sign. If a monitored target corresponding to the curb sign side is detected at this time, then that monitored target is obviously an interfering target. Therefore, this embodiment can further improve monitoring efficiency and accuracy.

[0062] Furthermore, after identifying the interfering targets in the monitoring target set, triggering the blind zone monitoring alarm function based on other valid targets in the monitoring target set besides the interfering targets can reduce false alarms in the blind zone monitoring system caused by interfering targets, thereby optimizing the blind zone monitoring function.

[0063] In step S140, interfering targets are removed from the set of monitored targets to determine the set of valid targets.

[0064] Optionally, in this embodiment, after determining the interfering targets in the monitoring target set, the interfering targets are deleted from the monitoring target set by deletion, so as to determine the effective target set.

[0065] Optionally, after determining the effective target set in the monitoring target set, this embodiment further includes the following steps.

[0066] In step S150, a blind spot monitoring alarm process is executed based on the effective target set.

[0067] In this embodiment, after determining the effective target set in the monitoring target set, a blind spot monitoring alarm process is executed based on the effective target set to remind the target object or driver that there is speeding, lane changing or other situations that may affect the vehicle's driving around the vehicle, so that the target object or driver can take timely action and improve driving safety.

[0068] The technical solution of this embodiment obtains the environmental information of the target object and the set of monitoring targets corresponding to the target object, determines the interfering targets in the set of monitoring targets based on the environmental information, deletes the interfering targets from the set of monitoring targets, and determines the set of valid targets. This enables the interference of interfering targets to be avoided during the blind spot monitoring process of the target object, thereby reducing false alarms caused by interfering targets during the blind spot monitoring process of the target object and optimizing the blind spot monitoring function.

[0069] Figure 2 This is a flowchart illustrating the process of determining environmental information of a target object according to an embodiment of the present invention. For example... Figure 2 As shown, the environmental information in this embodiment is determined based on the following steps.

[0070] In step S210, the location information of the target object is obtained.

[0071] In this embodiment, the target object is a vehicle, and the environmental information of the target object includes the roadside markers corresponding to the location of the target object. Roadside markers include roadside curbs, fences, medians, and tunnel walls, etc.

[0072] Optionally, in this embodiment, when determining the environmental information of the target object, the location information of the target object is first determined, and then the environmental information of the target object's location is determined based on the location information.

[0073] Optionally, in this embodiment, the location information of the target object can be determined based on the vehicle positioning system, or it can be determined by combining the vehicle positioning system with near-field communication (such as Bluetooth, WiFi, sensors, etc.) technologies.

[0074] Furthermore, since existing vehicles are equipped with positioning boxes that facilitate the acquisition of vehicle location information, the location information of the target object in this embodiment can be determined based on the positioning box of the target object. Therefore, the solution in this embodiment can optimize the vehicle blind spot monitoring function based on the existing vehicle architecture, which is not only highly practical but also reduces the optimization cost of the vehicle blind spot monitoring function.

[0075] A positioning box (P-Box) typically contains a GNSS satellite high-precision positioning module and an IMU (Inertial Measurement Unit) module. The GNSS module provides absolute positioning information. The IMU module, usually employing a 3-axis gyroscope and a 3-axis accelerometer, is primarily used to calculate positioning information based on flight path when GNSS signals are weak. When determining positioning information, the IMU module's input signals generally include raw GNSS observations, IMU readings, vehicle speed, and correction data. Its output signals include PVT position (vehicle attitude optional), speed, and timestamps. Therefore, in this embodiment, the positioning box of the vehicle can be used to obtain the target object's location information without adding other positioning devices. This facilitates the determination of the target object's environmental information and reduces the additional costs required for optimizing the vehicle's blind spot monitoring function.

[0076] In step S220, the environmental information is determined based on the location information and the corresponding map information.

[0077] In this embodiment, after determining the location information of the target object, the location information of the target object is matched with the map information to determine the roadside landmarks corresponding to the location of the target object, and then the environmental information is determined.

[0078] Optionally, to improve the efficiency of determining environmental information, the map information in this embodiment is determined based on a high-precision map, which includes the location and signage information of road structures. The environmental information in this embodiment includes roadside landmarks such as curbs, fences, medians, and tunnel walls corresponding to the location of the target object.

[0079] The technical solution of this embodiment obtains the location information of the target object through a positioning box, and determines the environmental information of the target object based on the location information and the corresponding map information. Therefore, based on the existing vehicle architecture, this embodiment can determine the location information of the target object without adding other positioning devices, and determines the roadside landmarks corresponding to the location of the target object through the matching process of the target object's location information and map information. This facilitates the determination of the target object's environmental information and reduces the overall additional cost required for optimizing the vehicle's blind spot monitoring function.

[0080] Figure 3 This is a flowchart illustrating the process of determining the set of monitoring targets according to an embodiment of the present invention. For example... Figure 3 As shown, the set of monitoring targets in this embodiment is determined based on the following steps.

[0081] In step S310, monitoring data is acquired based on the sensors installed on the target object.

[0082] In this embodiment, monitoring data is acquired by sensors installed on the target object. The sensors are millimeter-wave radars. The monitoring data acquired by the sensors include the position information, time information, and speed information of the electromagnetic waves emitted and reflected back by the millimeter-wave radars. The number of sensors can be set to two sets, with the two sets of sensors respectively installed on the left and right sides of the rear of the vehicle.

[0083] It should be noted that the location and number of sensors in this embodiment can be selected according to the actual use scenario, and there are no restrictions here.

[0084] In step S320, the set of monitoring targets is determined based on the monitoring data.

[0085] In this embodiment, the set of monitoring targets is determined by the monitoring data returned by the sensors. Optionally, the set of monitoring targets can be determined by the position, time, and speed information of the electromagnetic waves emitted and reflected back by millimeter-wave radar. Since both stationary objects (including curb markers) and non-stationary objects (moving vehicles around the target object) around the target object will reflect the monitoring data, in order to improve the efficiency of blind spot monitoring, after acquiring the monitoring data, this embodiment determines the monitoring targets corresponding to all the monitoring data as the initial target set, then deletes the monitoring targets with a speed of 0 from the initial target set, and determines the target set formed by the other monitoring targets with non-zero speeds in the initial target set as the monitoring target set.

[0086] Furthermore, the monitoring target set includes valid targets and / or interfering targets. When the monitoring target set only includes valid targets and triggers the blind spot monitoring alarm process, guidance for vehicle driving can be provided through alarm prompts. Simultaneously, when interfering targets exist in the monitoring target set, identifying these interfering targets reduces or avoids blind spot monitoring alarms triggered by them, minimizing the adverse effects of erroneous triggering of the vehicle's blind spot monitoring process on vehicle driving and improving road driving safety.

[0087] Figure 4 This is a schematic diagram illustrating the determination of a valid target set according to an embodiment of the present invention. For example... Figure 4 As shown, in this embodiment, target object A is located on the far left of the road in the current direction of travel, and a median strip B is set on the far left of target object A. The monitoring target set corresponding to target object A includes monitoring target C and monitoring target D.

[0088] In determining the effective target set within the monitoring target set corresponding to target object A, this embodiment first identifies interfering targets based on the distance between target object A and the roadside markers on both sides of the road. Then, it determines the effective target set within the monitoring target set based on the interfering targets. Since the distance between target object A and the left-side roadside marker median B is less than a preset distance, and monitoring target D is located to the left of the target object, monitoring target D is identified as an interfering target in the current monitoring target set and removed from the current monitoring target set. The effective target in the current monitoring target set is then identified as monitoring target C. Finally, based on the effective target C, a blind spot monitoring alarm process is triggered to alert the target object or driver that there is speeding, lane changing, or other situations that may affect vehicle operation around the vehicle, facilitating timely action by the target object or driver and improving driving safety.

[0089] Optionally, such as Figure 4 As shown, since the distance between target object A and the left-side curb marker barrier B is less than a preset distance, and monitoring target D is located to the left of target object A, monitoring target D may be an electromagnetic wave emitted by the sensor on the right rear side of target object A, reflected by vehicle C to the curb barrier B, and then reflected back to target object A, forming a ghost target near the curb barrier B. Therefore, in this embodiment, when determining the effective target set in the monitoring target set corresponding to target object A, it can first determine whether there is a mirror symmetry relationship between monitoring target C and monitoring target D based on their positional and speed relationships. If there is a mirror symmetry relationship between monitoring target C and monitoring target D, it can determine that monitoring target D is an interfering target based on the positional information of monitoring target D, and then delete the interfering target D from the current monitoring target set, determining the effective target in the current monitoring target set as monitoring target C. This can further improve the accuracy of determining interfering targets, avoid situations where a real vehicle on the road loses control and enters the curb side without triggering the alarm process, thereby further improving driving safety.

[0090] Figure 5 This is a schematic diagram of the target monitoring and control system according to an embodiment of the present invention. Figure 5As shown, the target monitoring and control system in this embodiment includes an ADAS map controller 10, an ADAS domain controller 20, and a BCM module 30. The ADAS map controller 10 receives the location information of the target object output by the positioning box 40 and the map information output by the map module 50, and determines the environmental information corresponding to the target object based on the location and map information. The ADAS domain controller 20 receives monitoring data collected by the sensor 60, determines a set of monitoring targets based on the monitoring data, identifies interfering targets in the monitoring target set based on the environmental information, removes interfering targets from the monitoring target set, and determines a set of valid targets in the monitoring target set. The BCM module 30 is a vehicle body control module used to control the operation of various types of electrical units installed on the vehicle. Specifically, in this embodiment, the BCM module 30 executes a blind spot monitoring alarm process based on the valid targets determined from the monitoring target set and issues an alarm signal to remind the target object or driver of speeding, lane changing, or other situations that may affect vehicle operation around the vehicle, facilitating timely action by the target object or driver and improving driving safety.

[0091] Figure 6 This is another flowchart of the target monitoring method according to an embodiment of the present invention. Figure 6 As shown, the target monitoring method in this embodiment includes the following steps.

[0092] In step S610, the location information of the target object is obtained.

[0093] In this embodiment, based on Figure 5 The positioning box 40 shown determines the positioning information of the target object.

[0094] In step S620, the environmental information is determined based on the positioning information and the corresponding map information.

[0095] In this embodiment, high-precision map information corresponding to the location information of the target object is obtained, and based on... Figure 5 The ADAS map controller 10 in the target monitoring and control system shown matches the positioning information of the target object with the map information of the high-precision map to determine the roadside landmarks such as curbs, fences, guardrails and tunnel walls corresponding to the location of the target object, and then determines the environmental information of the target object.

[0096] In step S630, monitoring data is acquired based on the sensors set on the target object.

[0097] Combination Figure 5 In this embodiment, a sensor 60 is installed on the target object to obtain monitoring data. The sensor 60 uses millimeter-wave radar, and the monitoring data includes the position information, time information, and velocity information of the electromagnetic waves emitted and reflected back by the millimeter-wave radar.

[0098] In step S640, the set of monitoring targets is determined based on the monitoring data.

[0099] In this embodiment, by processing the position, time, and velocity information of the electromagnetic waves emitted and reflected by the millimeter-wave radar, the set of monitoring targets corresponding to the target object is determined. The set of monitoring targets includes effective targets and / or interference targets.

[0100] In step S650, interference targets in the monitoring target set are determined based on environmental information.

[0101] In this embodiment, the monitoring target located on the side of the roadside sign is identified as an interference target in response to the distance between the target object and the roadside sign being less than a preset distance.

[0102] In step S660, interfering targets are removed from the set of monitored targets to determine the set of valid targets.

[0103] In this embodiment, through Figure 5 The ADAS domain controller 20 in the target monitoring and control system shown receives monitoring data, determines the set of monitoring targets based on the monitoring data, then determines the interfering targets in the set of monitoring targets based on environmental information, removes the interfering targets from the set of monitoring targets, and then determines the valid targets in the set of monitoring targets.

[0104] In step S670, a blind spot monitoring alarm process is executed based on the effective target set.

[0105] In this embodiment, as Figure 5 As shown, after determining the valid targets in the monitoring target set, the blind spot monitoring alarm process is executed based on the BCM module 30 in the target monitoring and control system, and an alarm signal is issued to remind the target object or driver that there is speeding, lane changing or other situations that may affect the vehicle's driving around the vehicle, so that the target object or driver can take timely action and improve driving safety.

[0106] The technical solution of this embodiment determines the location information of the target object based on the target object's positioning box. By matching the target object's location information with the map information of a high-precision map, the environmental information of the target object is determined. Based on the distance between the target object and the roadside markers in the environmental information, interfering targets in the monitoring target set are determined. By deleting the interfering targets from the monitoring target set, the blind spot monitoring alarm process is triggered based on the valid target set in the monitoring target set. This reduces or avoids blind spot monitoring alarms triggered by interfering targets, reduces the adverse effects of false triggering of the vehicle blind spot monitoring process on vehicle driving, and improves road driving safety.

[0107] Figure 7This is a flowchart of the interference target detection process according to an embodiment of the present invention. Figure 7 As shown, this embodiment implements the interference target detection process through the following steps.

[0108] In step S710, the location information of the target object is obtained.

[0109] Optionally, in this embodiment, the location information of the target object can be the location information determined by the vehicle positioning box and the map information of the high-precision map.

[0110] In step S720, it is determined whether the lane-level positioning information is normal.

[0111] In this embodiment, lane-level information is used to characterize the vehicle's lane position on the road in its current direction of travel, such as the leftmost, middle, or rightmost lane on a two-way road traveling from west to east. When the acquired target object's location information includes lane-level information, it is determined that the target object's lane-level positioning information is normal, and step S730 continues. When the acquired target object's location information does not reflect lane-level information, it is determined that the target object's lane-level positioning information is abnormal, and step S780 continues, exiting the interference target detection process described in this invention (the original blind spot monitoring process works normally).

[0112] In step S730, it is determined whether the vehicle is in the leftmost or rightmost lane.

[0113] In this embodiment, based on the lane-level positioning information of the target object, it is determined whether the vehicle is located in the leftmost or rightmost lane of the current driving direction. If it is determined that the vehicle is located in the leftmost or rightmost lane of the current driving direction, step S740 is executed. If it is determined that the vehicle is located in the middle lane of the current driving direction, that is, the vehicle is not located in the leftmost or rightmost lane of the current driving direction, step S780 is executed, and the interference target detection process is exited.

[0114] In step S740, it is determined whether there are curb markers on both sides of the lane.

[0115] In this embodiment, the vehicle's location information is matched with the map information of a high-precision map to determine whether there are curb markers on both sides of the vehicle's lane. Optionally, curb markers can be curbs, fences, medians, tunnel walls, etc. When it is determined that there are curb markers on both sides of the vehicle's lane, step S750 is executed. When it is determined that there are no curb markers on both sides of the vehicle's lane, step S780 is executed, and the interference target detection process is exited.

[0116] In step S750, the target attributes of the monitoring targets in the monitoring target set are determined.

[0117] In this embodiment, the monitoring target is determined based on the position, time, and speed information of the electromagnetic waves emitted and reflected by the millimeter-wave radar on the vehicle. The target attributes of the monitoring target are determined based on the distance between the vehicle and roadside markers and the position of the monitoring target. Furthermore, according to the different target attributes, the monitoring targets in the target set can be divided into interference targets and valid targets. Valid targets represent actual targets within the alarm area that can trigger the blind spot monitoring alarm process. For example, when a vehicle is traveling in the rightmost lane, other vehicles near the left side of the vehicle that tend to speed are valid targets, while the clustered targets formed by the location points of the electromagnetic waves emitted from the right side of the vehicle and reflected back from the wall are interference targets.

[0118] In step S760, it is determined whether the monitored target is within the alarm area.

[0119] In this embodiment, to improve the effectiveness of blind spot monitoring, an alarm zone is pre-set. The alarm zone can be an area within a certain distance centered on the vehicle's location. When the monitored target location is within the alarm zone, step S770 is executed; otherwise, step S780 is executed.

[0120] In step S770, interference targets within the alarm area are discarded.

[0121] In this embodiment, false alarms in blind zone monitoring are reduced and the blind zone monitoring function is optimized by discarding interfering targets within the alarm zone. If other valid targets remain within the alarm zone after discarding interfering targets, the blind zone monitoring process is executed based on these valid targets. After completing the blind zone monitoring process, step S780 is executed to exit the interfering target detection process. Alternatively, if no other valid targets remain within the alarm zone after discarding interfering targets, step S780 is executed directly to exit the interfering target detection process.

[0122] In step S780, the interference target detection process is exited.

[0123] The technical solution of this embodiment determines the target attributes of the monitoring target based on the distance between the vehicle and the roadside sign and the position of the monitoring target when the vehicle is located in the leftmost or rightmost lane of the current driving direction. By discarding interfering targets in the alarm area, the blind spot monitoring alarm triggered by interfering targets is reduced, the adverse effects of false triggering of the vehicle blind spot monitoring process on vehicle driving are reduced, the vehicle blind spot monitoring function is optimized, and the safety of road driving is improved.

[0124] Figure 8 This is a schematic diagram of a target monitoring device according to an embodiment of the present invention. Figure 8As shown, the target monitoring device in this embodiment includes an information acquisition unit 1, a set acquisition unit 2, a target determination unit 3, and a target deletion unit 4. The information acquisition unit 1 acquires environmental information about the target object. The set acquisition unit 2 acquires a set of monitoring targets corresponding to the target object. The target determination unit 3 determines interfering targets in the set of monitoring targets based on the environmental information. The target deletion unit 4 deletes interfering targets from the set of monitoring targets, thus determining a valid set of targets.

[0125] Optionally, such as Figure 9 As shown, the target object in this embodiment is a vehicle, and the environmental information of the target object includes the roadside markers corresponding to the location of the target object. Roadside markers include curbs, fences, medians, and tunnel walls, etc. The information acquisition unit 1 in this embodiment includes a positioning information unit 11 and an environmental information unit 12. The positioning information unit 11 is used to acquire the positioning information of the target object. The environmental information unit 12 is used to determine the environmental information based on the positioning information and the corresponding map information. Further, the positioning information unit 11 can use a positioning box on the vehicle. Specifically, the environmental information unit 12 is used to match the positioning information of the target object with the map information to determine the roadside markers corresponding to the location of the target object, thereby determining the environmental information. Furthermore, the map information is determined based on a high-precision map, which includes the location information and identification information of road structures.

[0126] Optionally, such as Figure 9 As shown, the set acquisition unit 2 in this embodiment includes a monitoring data unit 21 and a target set unit 22. The monitoring data unit 21 acquires monitoring data based on sensors installed on the target object. The target set unit 22 determines a set of monitoring targets based on the monitoring data. Further, in this embodiment, the target determination unit 3 specifically determines monitoring targets located on the side of the roadside sign as interference targets when the distance between the target object and the roadside sign is less than a preset distance. After determining the interference targets, the target deletion unit 4 deletes the interference targets from the monitoring target set, thus determining a valid target set.

[0127] Furthermore, such as Figure 9 As shown, the target monitoring device in this embodiment, in addition to the information acquisition unit 1, the set acquisition unit 2, the target determination unit 3, and the target deletion unit 4, also includes a monitoring alarm unit 5. The monitoring alarm unit 5 is used to execute a blind spot monitoring alarm process based on the valid target set. Therefore, after determining the valid target set in the monitoring target set, the blind spot monitoring alarm process is executed based on the valid target set to alert the target object or driver to the presence of speeding, lane changing, or other situations that may affect vehicle operation around the vehicle, facilitating timely action by the target object or driver and improving driving safety.

[0128] The technical solution of this embodiment is based on the information acquisition unit determining the location information of the target object, matching the location information of the target object with the map information of a high-precision map to determine the environmental information of the target object, the set acquisition unit acquiring monitoring data based on the sensors installed on the target object, determining the monitoring target set based on the monitoring data, the target determination unit determining the interfering targets in the monitoring target set based on the distance between the target object and the roadside markers in the environmental information, and the target deletion unit deleting the interfering targets from the monitoring target set, and finally the monitoring alarm unit triggering the blind spot monitoring alarm process based on the valid target set in the monitoring target set, reducing or avoiding blind spot monitoring alarms triggered by interfering targets, reducing the adverse effects of false triggering of the vehicle blind spot monitoring process on vehicle driving, and thus optimizing the vehicle blind spot monitoring function.

[0129] Another embodiment of the invention relates to a vehicle. For example... Figure 10 As shown, the vehicle 100 in this embodiment includes a positioning system 110 and a target monitoring system 120. The positioning system 110 is used to acquire environmental information of the target object. The target monitoring system 120 is used to acquire a set of monitored targets corresponding to the target object, determine interfering targets in the monitoring target set based on the environmental information, delete interfering targets from the monitoring target set, and determine a set of valid targets. The environmental information in this embodiment includes roadside markers corresponding to the location of the target object, including roadside markers, fences, medians, and / or tunnel walls.

[0130] Optionally, in this embodiment, when the target monitoring system 120 determines the set of monitoring targets based on environmental information, it identifies the monitoring target located on the side of the roadside marker as an interference target if the distance between the target object and the roadside marker is less than a preset distance. When the positioning system 110 acquires the environmental information of the target object, it acquires the positioning information of the target object, matches the positioning information with map information, determines the roadside marker corresponding to the location of the target object, and then determines the environmental information. The positioning information is determined based on the target object's positioning box. The map information is determined based on a high-precision map, which includes the location information and signage information of the road surface and buildings.

[0131] Furthermore, the target monitoring system 120 in this embodiment includes a sensor for acquiring monitoring data, so that the target monitoring system 120 determines the set of monitoring targets corresponding to the target object based on the monitoring data.

[0132] Furthermore, after determining the effective target set, the target monitoring system 120 in this embodiment is also used to execute a blind spot monitoring and alarm process based on the effective target set.

[0133] The technical solution of this invention obtains the vehicle's environmental information through the vehicle's positioning system, then obtains the set of monitoring targets corresponding to the vehicle through the target monitoring system, determines the interfering targets in the monitoring target set based on the environmental information, deletes the interfering targets from the monitoring target set, and determines the effective target set. This enables the vehicle's blind spot monitoring process to avoid the influence of interfering targets, thereby reducing false alarms caused by interfering targets in the vehicle's blind spot monitoring process and optimizing the vehicle's blind spot monitoring function.

[0134] Those skilled in the art will understand that embodiments of this application can be provided as methods, apparatus (devices), or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-readable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0135] This application is described with reference to flowchart illustrations of methods, apparatus (devices), and computer program products according to embodiments of this application. It should be understood that each step in the flowchart can be implemented by computer program instructions.

[0136] Another embodiment of the present invention relates to a computer program product, including a computer program / instructions, which, when executed by a processor, implement some or all of the steps in some or all of the method embodiments described above. These computer programs / instructions may be stored in a computer-readable storage medium capable of directing a computer or other programmable data processing device to function in a particular manner, such that the program / instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the process. Figure 1 The functions specified in one or more processes. These computer programs / instructions may also be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing device, generate functions for implementing the processes. Figure 1 A device for a function specified in one or more processes.

[0137] Another embodiment of the present invention relates to a computer-readable storage medium, which may be a non-volatile storage medium, for storing a computer-readable program for use by a computer to execute some or all of the above-described method embodiments.

[0138] That is, those skilled in the art will understand that all or part of the steps in the methods of the above embodiments can be implemented by a program instructing related hardware. This program is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods described in the embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0139] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. For those skilled in the art, the present invention can be modified and varied in various ways. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of the present invention should be included within the scope of protection of the present invention.

Claims

1. A target monitoring method, characterized in that, The method includes: Acquire environmental information of the target object, including roadside landmarks corresponding to the location of the target object; Obtain the set of monitoring targets corresponding to the target object; Based on the environmental information, determine the interfering targets in the set of monitoring targets; Remove the interfering targets from the set of monitored targets to determine the set of valid targets; The step of determining the interference targets in the monitoring target set based on the environmental information includes: In response to the distance between the target object and the curb sign being less than a preset distance, the monitoring target located on the side of the curb sign is identified as the interference target.

2. The method according to claim 1, characterized in that, The method further includes: The blind spot monitoring and alarm process is executed based on the set of effective targets.

3. The method according to any one of claims 1-2, characterized in that, The curb markers include curbs, fences, medians, and / or tunnel walls.

4. The method according to claim 1, characterized in that, The step of obtaining the monitoring target set corresponding to the target object includes: Monitoring data is acquired based on sensors installed on the target object; The set of monitoring targets is determined based on the monitoring data.

5. The method according to claim 1, characterized in that, The acquisition of environmental information of the target object includes: Obtain the location information of the target object; The location information is matched with the map information to determine the roadside landmarks corresponding to the location of the target object, thereby determining the environmental information.

6. A target monitoring device, characterized in that, The device includes: An information acquisition unit is used to acquire environmental information of a target object, the environmental information including roadside landmarks corresponding to the location of the target object; A set acquisition unit is used to acquire the set of monitoring targets corresponding to the target object; The target determination unit is used to determine the interfering target in the monitoring target set based on the environmental information. Specifically, the target determination module is used to determine the monitoring target located on the side of the roadside sign as the interfering target in response to the distance between the target object and the roadside sign being less than a preset distance. The target deletion unit is used to delete the interfering target from the set of monitored targets and determine the set of valid targets.

7. The apparatus according to claim 6, characterized in that, The target determination unit is specifically used to determine the monitoring target located on the side of the roadside sign as the interference target in response to the distance between the target object and the roadside sign being less than a preset distance.

8. A vehicle, characterized in that, The vehicles include: A positioning system for acquiring environmental information of a target object, the environmental information including roadside landmarks corresponding to the location of the target object; A target monitoring system is used to acquire a set of monitoring targets corresponding to the target object. In response to the distance between the target object and the roadside marker being less than a preset distance, the monitoring target located on the side of the roadside marker is identified as an interfering target, the interfering target is deleted from the set of monitoring targets, and a set of valid targets is determined.

9. The vehicle according to claim 8, characterized in that, The target monitoring system includes: A sensor is used to acquire monitoring data so that the target monitoring system can determine the set of monitoring targets corresponding to the target object based on the monitoring data.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the method steps of any one of claims 1-5.

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