State determination method, apparatus and vehicle

Abstract

Embodiments of the present application disclose a state determination method, device and vehicle. After field of view information of a vehicle is acquired, attribute information of a target object is determined according to the field of view information. In response to detecting that the attribute information of the target object meets a lane changing condition, it is determined whether the position of the target object jumps. In response to determining that the position of the target object does not jump, it is determined that the state of the target object is lane changing. Through the method, the judgment accuracy of an ADAS system of the vehicle on the driving state of surrounding vehicles can be improved, and the driving safety of a driver is ensured.

Description

Technical Field

[0001] This invention relates to the field of driving, and more specifically to a state determination method, apparatus, and vehicle. Background Technology

[0002] ADAS (Advanced Driver Assistance System) systems can use various sensors installed on the vehicle to sense surrounding vehicles and determine their driving status based on the sensed information to assist the driver in driving the vehicle.

[0003] In existing technologies, ADAS systems typically use radar sensors to detect surrounding vehicles. However, due to the reflective properties of electromagnetic waves, radar sensors are prone to outputting erroneous or significantly biased perception information in certain situations. This can lead to misjudgments of the driving status of surrounding vehicles by the ADAS system, thereby affecting the driver's driving safety. Summary of the Invention

[0004] In view of this, embodiments of the present invention provide a state determination method, apparatus and vehicle to improve the accuracy of the vehicle's ADAS system in judging the driving status of surrounding vehicles, thereby ensuring the driving safety of the driver.

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

[0006] Obtain the field of view information of your own vehicle;

[0007] Determine the attribute information of the target object based on the field of view information;

[0008] In response to detecting that the attribute information of the target object meets the lane-changing condition, it is determined whether the position of the target object has changed;

[0009] In response to determining that the position of the target object has not changed, the state of the target object is determined to be changing lanes.

[0010] Secondly, embodiments of the present invention provide a vehicle, the vehicle comprising:

[0011] Vehicle body;

[0012] The sensing system is installed on the vehicle body; and

[0013] Control device, the control device being configured to:

[0014] The sensor system acquires the field of view information of the vehicle itself.

[0015] Determine the attribute information of the target object based on the field of view information;

[0016] In response to detecting that the attribute information of the target object meets the lane-changing condition, it is determined whether the position of the target object has changed;

[0017] In response to determining that the position of the target object has not changed, the state of the target object is determined to be changing lanes.

[0018] Thirdly, embodiments of the present invention provide a state determination device, the device comprising:

[0019] The acquisition unit is used to acquire the field of view information of its own vehicle;

[0020] The determining unit is used to determine the attribute information of the target object based on the field of view information;

[0021] A jump determination unit is used to determine whether the position of the target object has changed in response to detecting that the attribute information of the target object meets the lane-changing condition;

[0022] A state determination unit is used to determine that the state of the target object is changing lanes in response to detecting that the position of the target object has not changed.

[0023] Fourthly, embodiments of the present invention provide a computer-readable storage medium having computer program instructions stored thereon, which, when executed by a processor, implement the method as described in any one of the first aspects.

[0024] Fifthly, embodiments of the present invention provide an electronic device, the device comprising:

[0025] Memory is used to store one or more computer program instructions;

[0026] A processor, wherein the one or more computer program instructions are executed by the processor to implement the method as described in any one of the first aspects.

[0027] The state determination method of this invention, after acquiring the field of view information of its own vehicle, determines the attribute information of the target object based on the field of view information. In response to detecting that the attribute information of the target object meets the lane-changing conditions, it determines whether the position of the target object has changed. In response to determining that the position of the target object has not changed, it determines that the state of the target object is in the process of changing lanes. This method can improve the accuracy of the vehicle's ADAS system in judging the driving status of surrounding vehicles, thereby ensuring the driver's driving safety. Attached Figure Description

[0028] 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:

[0029] Figure 1 This is a schematic diagram illustrating an application scenario of the state determination method according to an embodiment of the present invention;

[0030] Figure 2 This is a flowchart of the state determination method according to an embodiment of the present invention;

[0031] Figure 3 This is a schematic diagram of three-dimensional scene information according to an embodiment of the present invention;

[0032] Figure 4 This is a flowchart of the position jump determination method according to an embodiment of the present invention;

[0033] Figure 5 This is a flowchart of another position transition determination method according to an embodiment of the present invention;

[0034] Figure 6 This is a flowchart of another position transition determination method according to an embodiment of the present invention;

[0035] Figure 7 This is a curve showing the change in the relative distance between the target object and its own vehicle over time, according to an embodiment of the present invention.

[0036] Figure 8 This is a curve showing the change in distance between the target object and the target lane line over time, according to an embodiment of the present invention.

[0037] Figure 9 This is a schematic diagram of a state determination device according to an embodiment of the present invention;

[0038] Figure 10 This is a schematic diagram of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0039] 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.

[0040] 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.

[0041] 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".

[0042] In the description of the present invention, it should be understood that the terms "first", "second" and the like are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance. Furthermore, in the description of the present invention, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0043] An ADAS system (Advanced Driver Assistance System) can use various sensors installed on the host vehicle to sense surrounding vehicles, and determine the driving state of the surrounding vehicles according to the sensing information to assist the driver in driving the vehicle.

[0044] In the prior art, ADAS systems usually use radar sensors to sense surrounding vehicles. Specifically, the radar sensor can emit electromagnetic waves in the direction to be detected. The electromagnetic waves will be reflected after colliding with a target vehicle located in this direction. The radar sensor can receive the reflected waves, and calculate the time length from emitting the electromagnetic waves to receiving the reflected waves and compare the frequency change between the electromagnetic waves and the reflected waves to determine relevant information such as the position and moving speed of the target vehicle. The ADAS system can determine the driving state of surrounding target vehicles according to the sensing information output by the radar sensor.

[0045] Due to the characteristic of electromagnetic waves that they are reflected when colliding with any object, the radar sensor can only actually judge whether there is an object around, but cannot judge what the object specifically is. When facing certain specific situations, for example, when the surrounding vehicle is a sprinkler truck, the radar sensor will be interfered by the water sprayed by the sprinkler truck, so that the water sprayed by the sprinkler truck is regarded as the sprinkler truck itself, or the position judgment of the sprinkler truck is deviated, resulting in outputting wrong or greatly deviated sensing information. After receiving these wrong or greatly deviated sensing information, the ADAS system may mistakenly think that the driving state of the sprinkler truck has suddenly changed, and then activate the AEB system (Autonomous Emergency Braking system) for emergency braking, or activate the ACC system (Adaptive Cruise Control system) to avoid the sprinkler truck, which eventually leads to a collision between the host vehicle and the sprinkler truck, seriously affecting the driving safety of the driver.

[0046] It should be understood that the AEB system and the ACC system may specifically be subsystems supporting the ADAS system. The AEB system is configured to perform emergency braking on the host vehicle, and the ACC system is configured to assist the driver in adjusting the driving speed of the host vehicle.

[0047] It should be understood that the specific situations mentioned in this embodiment are not limited to surrounding vehicles being water trucks. Any suddenly appearing object can significantly affect the output of the radar sensor. For example, rainwater splashed up by vehicles on the roadside during a rainy day can also cause the radar sensor to output incorrect or significantly inaccurate perception information.

[0048] In response, embodiments of the present invention provide a state determination method, device, and vehicle to improve the accuracy of the vehicle's ADAS system in judging the driving status of surrounding vehicles, thereby ensuring the driver's driving safety.

[0049] Figure 1 This is a schematic diagram illustrating an application scenario of the state determination method according to an embodiment of the present invention. For example... Figure 1 As shown, the vehicle 11 includes a vehicle body 111, a sensing system 112, and a control device. The vehicle body 111 is used to implement the basic functions of the vehicle 11, such as passenger carrying and movement.

[0050] The sensing system 112 is mounted on the vehicle body 111. The sensing system 112 includes an image acquisition device and a radar sensor. The image acquisition device is used to acquire image information of objects around the vehicle 11, and the radar sensor is used to acquire radar information of objects around the vehicle 11. The radar information may specifically include the position information and speed information of the objects. Optionally, the image acquisition device may specifically include a camera, and the radar sensor may specifically include a lidar sensor or a millimeter-wave radar sensor. Optionally, the image acquisition device and radar sensor may be one or more sets. It should be understood that in this embodiment, the image acquisition device and radar sensor can be placed at corresponding positions on the vehicle according to actual needs to ensure that the sensing system 112 can sense objects around the vehicle 11.

[0051] Optionally, to ensure that vehicle attribute information can be determined in subsequent processes, this embodiment can also perform matrix rotation, vector translation, and other processing on the image acquisition device and radar sensor to ensure that the sensing range of the image acquisition device and radar sensor is spatially synchronized. For example... Figure 1 As shown, the sensing range of the image acquisition device is S1, the sensing range of the radar sensor is S2, and the overlapping part S3 is the coverage area of ​​the 3D scene information obtained after fusing the sensing information of the two. It should be understood that... Figure 1 The 3D scene information range shown is for illustrative purposes only. In actual applications, its actual coverage area can be the entire current road segment. Furthermore, this embodiment can also adjust the acquisition frequency of the image acquisition device and the radar sensor to ensure that their information acquisition times are synchronized.

[0052] The control device is used to control the sensing system 112 to perceive surrounding vehicles and determine the movement status of the surrounding vehicles based on the perception results. Optionally, the control device may specifically be a microcontroller for executing corresponding programs. The control device may be integrated with the ADAS system or integrated as an independent status determination device.

[0053] Specifically, in practical applications, the control device can sense surrounding vehicles through the sensing system 112 to obtain its own vehicle's field of view information. After acquiring the field of view information, the control device can determine the attribute information of surrounding vehicles, such as the water truck 12, based on the field of view information. When the attribute information of the water truck 12 is detected to meet the lane-changing conditions, the control device can further determine whether the position of the target object has changed. If it is determined that the position of the target vehicle has not changed, the control device can determine that the target object is in the process of changing lanes. Further, if it is determined that the position of the target vehicle has changed, the control device can determine that the target object is not in the process of changing lanes. Optionally, the attribute information may specifically include the target vehicle's position information and speed information within its current lane.

[0054] It should be understood that the control device in this embodiment can determine whether a target vehicle is changing lanes by judging whether its position has changed abruptly when the target vehicle's attribute information meets the lane-changing conditions. This avoids misjudgments of the target vehicle's driving status due to erroneous or significantly biased perception information output by the radar sensor. Specifically, during a normal lane-changing process, the vehicle's position should change gradually, while when the radar sensor outputs erroneous or significantly biased perception information, the vehicle's position changes abruptly. The control device can determine whether the vehicle is changing lanes normally or whether the radar sensor's perception result is erroneous by judging whether the target vehicle's position has changed abruptly when the lane-changing conditions are met.

[0055] Figure 2 This is a flowchart of a state determination method according to an embodiment of the present invention. Figure 2 As shown, the state determination method specifically includes the following steps:

[0056] S100: Obtain the field of view information of its own vehicle.

[0057] Specifically, the control device can sense surrounding vehicles through a sensing system to obtain its own vehicle's field of view information. This field of view information may include image information and radar information, and the radar information may include the position and speed information of each vehicle sensed by the radar sensors.

[0058] Optionally, the control device can acquire image information through an image acquisition device and radar information through a radar sensor. Specifically, the image acquisition device may include a camera, and the radar sensor may include a lidar sensor or a millimeter-wave radar sensor.

[0059] S200. Determine the attribute information of the target object based on the field of view information.

[0060] Specifically, after acquiring the field of view information of its own vehicle, the control device can determine the attribute information of the target object at the current moment based on the field of view information.

[0061] In this embodiment, the target object can specifically be a vehicle that will affect the driving of the vehicle itself. For example, the target object can be a vehicle in the lane where the vehicle is located or a vehicle in a lane adjacent to the lane where the vehicle is located. Optionally, the attribute information can specifically include the target vehicle's position information and speed information within its current lane.

[0062] Optionally, the control device in this embodiment can fuse the acquired image information with radar information to determine the three-dimensional scene information of the current road segment, and then determine the attribute information of the target object based on the three-dimensional scene information. Specifically, the fusion method of the three-dimensional scene information can employ a decision-level fusion method. Specifically, the control device can convert the acquired two-dimensional image information into corresponding three-dimensional image information, and then integrate the three-dimensional image information with the processed radar information to determine the three-dimensional scene information. In an optional implementation, this embodiment can also employ data-level fusion or feature-level fusion methods to determine the three-dimensional scene information.

[0063] S300: In response to detecting that the attribute information of the target object meets the lane-changing condition, determine whether the position of the target object has changed.

[0064] Specifically, if the control device detects that the attribute information of the target object meets the lane-changing conditions, it can further determine whether the position of the target object has changed.

[0065] Optionally, the control device may first determine a first distance based on the attribute information of the target object. If the first distance is less than a preset lane-changing distance threshold, and the lateral movement speed of the target object relative to the target lane line is greater than or equal to a preset lane-changing speed threshold, it is determined that the attribute information of the target object meets the lane-changing conditions. Here, the first distance characterizes the lateral distance between the target object and the target lane line at the current moment. The target lane line is the lane line of the lane currently occupied by the target object, and the lane line may include a left lane line or a right lane line.

[0066] Specifically, the control device can determine that the target object's attribute information meets the lane-changing conditions when the lateral distance between the target object and any target lane line in its current lane is less than a preset lane-changing distance threshold, and the lateral movement speed of the target object relative to the target lane line is greater than or equal to a preset lane-changing speed threshold.

[0067] Figure 3 This is a schematic diagram of three-dimensional scene information according to an embodiment of the present invention. Figure 3 As shown, the three-dimensional scene information includes lanes 31, 32, and 33. The vehicle 35 is located in lane 32, and the target object 34 is located in lane 33. The control device can determine the first distance A1 between the target object 34 and lane line 331, and its lateral movement speed V1 relative to lane line 331, based on the target object 34's position information within lane 33. If A1 is less than a preset lane-changing distance threshold, and V1 is greater than or equal to a preset lane-changing speed threshold, the control device can determine that the target object 34's attribute information meets the lane-changing conditions.

[0068] Optionally, the preset lane-changing distance threshold and the preset lane-changing speed threshold can be determined based on the width L of the lane currently occupied by the target object. For example, the preset lane-changing distance threshold can be set to one-quarter of the width L of the lane occupied by the target object. As another example, when the width L of the lane occupied by the target object is large, the preset lane-changing speed threshold can be set to a large value; when the width L of the lane occupied by the target object is small, the preset lane-changing speed threshold can be set to a small value.

[0069] It should be understood that when implementing the state determination method in this embodiment through code, the target object position information obtained by the control device is specifically the coordinate information of the target object in a coordinate system centered on its own vehicle. Since the target object may be in any direction from the vehicle, the first and second distances calculated in this embodiment may actually have a positive and negative relationship. Specifically, with... Figure 3 For example, the position information of the target object at the current time t1 can be (x1, y1), the position information of lane line 331 is x = xL, and the position information of lane line 332 is x = xR. Then the first distance can be x1 - xL or x1 - xR. Where x1 - xL > 0 and x1 - xR < 0. In the process of determining whether the attribute information of the target object meets the lane-changing condition, this embodiment can select the absolute value of the first distance before participating in the comparison.

[0070] Furthermore, after determining that the attribute information of the target object meets the lane-changing conditions, the control device can determine whether the position of the target object has changed.

[0071] Figure 4This is a flowchart of the position transition determination method according to an embodiment of the present invention. Figure 4 As shown, the position change determination method specifically includes the following steps:

[0072] S311, Determine the first distance.

[0073] S312, Determine the second distance.

[0074] S312. Determine whether the position of the target object has changed based on the first distance and the second distance.

[0075] Specifically, the control device can determine a first distance between the target object and the target lane line at the current moment, and then determine a second distance between the target object and the target lane line at the previous moment. Based on the first and second distances, it can then determine whether the target object's position has changed. The first distance represents the lateral distance between the target object and the target lane line at the current moment, where the target lane line is the lane line of the lane the target object is currently in. The second distance represents the lateral distance between the target object and the target lane line at the previous moment.

[0076] Optionally, the control device can acquire the first position of the target object at the current moment, then acquire the lane line position of the target lane line, and then determine a first distance based on the first position and the lane line position. Further, the control device can also acquire the second position of the target object at the previous moment, and determine a second distance based on the second position and the lane line position. Specifically, with... Figure 3 For example, the control device can obtain the first position (x1, y1) of the target object at the current time t1, the second position (x2, y2) at the previous time t2, the position x = xL of lane line 331 and the position x = xR of lane line 332, and then determine that the first distance can be (x1-xL) and / or (x1-xR), and the second distance can be (x2-xL) and / or (x2-xR).

[0077] It should be understood that this embodiment can store the location information, i.e., coordinate information of the target object at different times, in the corresponding memory so that the control device can retrieve it at any time during subsequent use.

[0078] Optionally, the control device can determine that the position of the target object has not changed when the difference between the first distance and the second distance is less than a preset jump threshold, or it can determine that the position of the target object has changed when the difference between the first distance and the second distance is greater than or equal to the preset jump threshold. The target lane line includes either a left lane line or a right lane line. The preset jump threshold can be set according to actual needs, for example, it can be set to 1m. Optionally, the preset jump threshold can also be determined based on the specific time interval between the current moment and the previous moment; it should be understood that the time interval can be proportional to the preset jump threshold.

[0079] Figure 8 This is a curve showing the change in distance over time between the target object and the target lane line in an embodiment of the present invention. Figure 8 As shown, (1) is the curve showing the change in distance between the target object and the target lane line over time when the target object normally changes lanes from the middle of the lane to the left lane. (2) is the curve showing the change in distance between the target object and the target lane line over time when the radar sensor outputs an error message. It should be understood that Figure 8 Solid lines 81 and 81' represent the distance change curves of the target object relative to the left target lane line, while dashed lines 82 and 82' represent the distance change curves of the target object relative to the right target lane line. In this embodiment, the state determination method determines whether the target object's position has changed by comparing the distance change between the target object at the current time t1 and the previous time t2 and the lane line (i.e., the difference between the first distance and the second distance).

[0080] Optionally, since the distances between the target object and the target lane lines on both sides change gradually over time, their sum also changes gradually over time. The control device can also determine that the target object's position has not changed when the difference between the sum of the first distance and the sum of the second distance is less than a preset jump threshold, or it can determine that the target object's position has changed when the difference between the sum of the first distance and the sum of the second distance is greater than or equal to the preset jump threshold. The target lane lines include the left lane line and the right lane line. Figure 3 For example, if the target object's first position at the current time t1 is (x1, y1) and its second position at the previous time t2 is (x2, y2), then the sum of the first distances can be (x1-xL)+(x1-xR), and the sum of the second distances can be (x2-xL)+(x2-xR). If the difference between the sum of the first distances and the sum of the second distances is less than a preset jump threshold, the control device can determine that the target object's position has not changed.

[0081] Figure 5 This is a flowchart of another position transition determination method according to an embodiment of the present invention. Figure 5As shown, the position change determination method specifically includes the following steps:

[0082] S321, Obtain relative velocity.

[0083] Specifically, the control device can acquire relative speed using a radar sensor. This relative speed characterizes the lateral movement speed of the target object relative to its own vehicle at the current moment.

[0084] S322. Determine the unit distance between the target object at the current time and the previous time.

[0085] Specifically, the control device can acquire the unit distance of the target object between the current moment and the previous moment. This unit distance characterizes the lateral distance the target object travels relative to its own vehicle within a unit of time.

[0086] It should be understood that the control device can obtain the lateral change distance of the target object relative to its own vehicle between the current time and the previous time, and then determine the unit distance as the ratio of the lateral change distance to the time interval between the current time and the previous time.

[0087] S323. Determine whether the position of the target object has changed based on the unit distance and the relative speed.

[0088] Specifically, after determining the relative speed and unit distance, the control device can determine whether the position of the target object has changed based on the unit distance and relative speed.

[0089] Optionally, the control device can determine that the target object's position has not changed when the difference between the unit distance and the relative speed is less than a preset speed difference, or determine that the target object's position has changed when the difference between the unit distance and the relative speed is greater than or equal to the preset speed difference. The preset speed difference can be set according to actual needs, for example, it can be set to 0.5 m / s. Therefore, the state determination method in this embodiment can determine whether the target object's position has changed by comparing whether the change in the target object's velocity before and after the change is less than the preset speed difference.

[0090] Figure 6 This is a flowchart of another position transition determination method according to an embodiment of the present invention. Figure 6 As shown, the position change determination method specifically includes the following steps:

[0091] S331. Obtain the first position of the target object at the current moment.

[0092] S332. Obtain the second position of the target object at the previous moment.

[0093] S333. Determine the lateral displacement change value of the target object based on the first position and the second position.

[0094] S334. Determine whether the position of the target object has changed based on the lateral displacement change value.

[0095] Specifically, this embodiment can also obtain the first position of the target object at the current moment and the second position of the target object at the previous moment, and then determine the lateral displacement change value of the target object based on the first position and the second position, and then determine whether the position of the target object has changed based on the lateral displacement change value.

[0096] Optionally, the control device may determine that the position of the target object has not changed when the lateral displacement change value is less than the preset jump threshold, or determine that the position of the target object has changed when the lateral displacement change value is greater than or equal to the preset jump threshold.

[0097] Figure 7 The curves showing the relative distance between the target object and its own vehicle over time are shown in this embodiment of the invention. Specifically, (1) shows the relative distance between the target object and its own vehicle over time during a normal lane change, and (2) shows the relative distance between the target object and its own vehicle over time when the radar sensor outputs an error message. The state determination method in this embodiment determines whether the target object's position has changed by comparing the change in relative distance between the target object and its own vehicle at the current time t1 and the previous time t2, i.e., the change in lateral displacement, and whether this change is less than a preset jump threshold.

[0098] In an optional implementation, this embodiment can also combine the above-described position change judgment methods. Specifically, the control device can determine that the position of the target object has not changed when the difference between the first distance and the second distance is less than a preset change threshold, the difference between the sum of the first distance and the sum of the second distance is less than a preset change threshold, the difference between the unit distance and the relative speed is less than a preset speed difference, and the lateral displacement change value is less than a preset change threshold. If any of these conditions are not met, the control device can determine that the position of the target object has changed.

[0099] S400, In response to determining that the position of the target object has not changed, the state of the target object is determined to be changing lanes.

[0100] Specifically, if it is determined that the position of the target vehicle has not changed, the control device can determine that the target object is changing lanes.

[0101] Furthermore, if it is determined that the position of the target vehicle has changed, the control device can determine that the target vehicle's state is that it has not changed lanes.

[0102] Optionally, after determining that the target object is changing lanes, the control device can take corresponding measures, such as applying emergency braking to its own vehicle through the AEB system, or adjusting its own vehicle speed through the ACC system, to avoid the target object and prevent a collision.

[0103] The state determination method of this invention, after acquiring the field of view information of its own vehicle, determines the attribute information of the target object based on the field of view information. In response to detecting that the attribute information of the target object meets the lane-changing conditions, it determines whether the position of the target object has changed. In response to determining that the position of the target object has not changed, it determines that the state of the target object is in the process of changing lanes. This method can improve the accuracy of the vehicle's ADAS system in judging the driving status of surrounding vehicles, thereby ensuring the driver's driving safety.

[0104] Figure 9 This is a schematic diagram of a state determination device according to an embodiment of the present invention. Figure 9 As shown, the state determination device of this embodiment includes an acquisition unit 91, a determination unit 92, a transition judgment unit 93, and a state determination unit 94.

[0105] Specifically, the acquisition unit 91 is used to acquire the field of view information of its own vehicle;

[0106] The determining unit 92 is used to determine the attribute information of the target object based on the field of view information;

[0107] The jump determination unit 93 is used to determine whether the position of the target object has changed in response to detecting that the attribute information of the target object meets the lane change condition;

[0108] The state determination unit 94 is used to determine the state of the target object as changing lanes in response to detecting that the position of the target object has not changed.

[0109] After acquiring the field-of-view information of its own vehicle, the state determination device of this invention determines the attribute information of a target object based on the field-of-view information. In response to detecting that the attribute information of the target object meets the lane-changing conditions, it determines whether the position of the target object has changed. If it is determined that the position of the target object has not changed, the state of the target object is determined to be lane-changing. This device can improve the accuracy of the vehicle's ADAS system in judging the driving status of surrounding vehicles, thereby ensuring the driver's driving safety.

[0110] Figure 10 This is a schematic diagram of an electronic device according to an embodiment of the present invention. Figure 10As shown, the electronic device is a general-purpose data processing device, which includes a general-purpose computer hardware structure, including at least a processor 71 and a memory 102. The processor 101 and the memory 102 are connected via a bus 103. The memory 102 is adapted to store instructions or programs executable by the processor 101. The processor 101 can be a standalone microprocessor or a collection of one or more microprocessors. Thus, the processor 101 executes the instructions stored in the memory 102 to perform the method flow of the embodiments of the present invention as described above, thereby realizing data processing and control of other devices. The bus 103 connects the above-mentioned components together, and also connects the above-mentioned components to the display controller 104, the display device, and the input / output (I / O) device 105. The input / output (I / O) device 105 can be a mouse, keyboard, modem, network interface, touch input device, motion-sensing input device, printer, and other devices known in the art. Typically, the input / output device 105 is connected to the system via an input / output (I / O) controller 106.

[0111] 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.

[0112] 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.

[0113] These computer program instructions may be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including an instruction means, the implementation process of which is described in the instruction means. Figure 1 The function specified in one or more processes.

[0114] These computer program 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, produce instructions for implementing processes. Figure 1 A device for a function specified in one or more processes.

[0115] Another embodiment of the present invention relates to 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.

[0116] 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 specifying the relevant 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.

[0117] 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 method for determining a state, characterized in that, The method includes: Obtain the field of view information of your own vehicle; Determine the attribute information of the target object based on the field of view information; In response to detecting that the attribute information of the target object meets the lane-changing condition, it is determined whether the position of the target object has changed; In response to determining that the position of the target object has not changed, the state of the target object is determined to be changing lanes; Determining whether the position of the target object has changed includes: A first distance is determined, which is used to characterize the lateral distance between the target object and the target lane line at the current moment, and the target lane line is the lane line of the lane where the target object is currently located; Determine a second distance, which is used to characterize the lateral distance between the target object and the target lane line at the previous moment; The position of the target object is determined based on the first distance and the second distance.

2. The method according to claim 1, characterized in that, Determining whether the position of the target object has changed based on the first distance and the second distance includes: In response to the fact that the difference between the first distance and the second distance is less than a preset jump threshold, it is determined that the position of the target object has not changed; In response to the difference between the first distance and the second distance being greater than or equal to a preset jump threshold, it is determined that the position of the target object has jumped; The target lane lines include either the left lane line or the right lane line.

3. The method according to claim 1, characterized in that, Determining whether the position of the target object has changed based on the first distance and the second distance includes: In response to the fact that the difference between the sum of the first distance and the sum of the second distance is less than a preset jump threshold, it is determined that the position of the target object has not changed; In response to the difference between the sum of the first distance and the sum of the second distance being greater than or equal to a preset jump threshold, it is determined that the position of the target object has jumped; The target lane lines include left lane lines and right lane lines; The sum of the first distances is the sum of the first distance determined based on the left lane line and the first distance determined based on the right lane line; The second distance sum is the sum of the second distance determined based on the left lane line and the second distance determined based on the right lane line.

4. The method according to claim 1, characterized in that, Determining the first distance includes: Obtain the first position of the target object at the current time; Obtain the lane line position of the target lane line; The first distance is determined based on the first position and the lane line position.

5. The method according to claim 4, characterized in that, Determining the second distance includes: Obtain the second position of the target object at the previous time step; The second distance is determined based on the second position and the lane line position.

6. The method according to claim 1, characterized in that, The field-of-view information includes image information and radar information: The image information is acquired using an image acquisition device; The radar information is acquired through radar sensors.

7. The method according to claim 6, characterized in that, Determining the attribute information of the target object based on the field of view information includes: The image information is fused with the radar information to determine three-dimensional scene information; The attribute information of the target object is determined based on the three-dimensional scene information.

8. The method according to claim 1, characterized in that, The attribute information of the target object satisfies the lane-changing condition, including that the first distance is less than a preset lane-changing distance threshold, and the lateral movement speed of the target object relative to the target lane line is greater than or equal to a preset lane-changing speed threshold. The target lane lines include either the left lane line or the right lane line.

9. A method for determining a state, characterized in that, The method includes: Obtain the field of view information of your own vehicle; Determine the attribute information of the target object based on the field of view information; In response to detecting that the attribute information of the target object meets the lane-changing condition, it is determined whether the position of the target object has changed; In response to determining that the position of the target object has not changed, the state of the target object is determined to be changing lanes; Determining whether the position of the target object has changed includes: Obtain the relative speed, which is used to characterize the lateral movement speed of the target object relative to its own vehicle at the current moment; Determine the unit distance between the target object at the current time and the previous time, wherein the unit distance is used to characterize the lateral change distance of the target object relative to its own vehicle within a unit time. The position of the target object is determined based on the unit distance and the relative speed to determine whether the position has changed.

10. The method according to claim 9, characterized in that, Determining whether the position of the target object has changed based on the unit distance and the relative velocity includes: In response to the fact that the difference between the unit distance and the relative speed is less than a preset speed difference, it is determined that the position of the target object has not changed. In response to the difference between the unit distance and the relative speed being greater than or equal to a preset speed difference, it is determined that the position of the target object has changed.

11. The method according to claim 9, characterized in that, The field-of-view information includes image information and radar information: The image information is acquired using an image acquisition device; The radar information is acquired through radar sensors.

12. The method according to claim 11, characterized in that, Determining the attribute information of the target object based on the field of view information includes: The image information is fused with the radar information to determine three-dimensional scene information; The attribute information of the target object is determined based on the three-dimensional scene information.

13. A vehicle, characterized in that, The vehicles include: Vehicle body; A sensing system is mounted on the vehicle body; and a control device is configured to: The sensor system acquires the field of view information of the vehicle itself. Determine the attribute information of the target object based on the field of view information; In response to detecting that the attribute information of the target object meets the lane-changing condition, it is determined whether the position of the target object has changed; In response to determining that the position of the target object has not changed, the state of the target object is determined to be changing lanes; Determining whether the position of the target object has changed includes: A first distance is determined, which is used to characterize the lateral distance between the target object and the target lane line at the current moment, and the target lane line is the lane line of the lane where the target object is currently located; Determine a second distance, which is used to characterize the lateral distance between the target object and the target lane line at the previous moment; The position of the target object is determined based on the first distance and the second distance.

14. A vehicle, characterized in that, The vehicles include: Vehicle body; A sensing system is mounted on the vehicle body; and a control device is configured to: The sensor system acquires the field of view information of the vehicle itself. Determine the attribute information of the target object based on the field of view information; In response to detecting that the attribute information of the target object meets the lane-changing condition, it is determined whether the position of the target object has changed; In response to determining that the position of the target object has not changed, the state of the target object is determined to be changing lanes; Determining whether the position of the target object has changed includes: Obtain the relative speed, which is used to characterize the lateral movement speed of the target object relative to its own vehicle at the current moment; Determine the unit distance between the target object at the current time and the previous time, wherein the unit distance is used to characterize the lateral change distance of the target object relative to its own vehicle within a unit time. The position of the target object is determined based on the unit distance and the relative speed to determine whether the position has changed.

15. A state determination device, characterized in that, The device includes: The acquisition unit is used to acquire the field of view information of its own vehicle; The determining unit is used to determine the attribute information of the target object based on the field of view information; A jump determination unit is used to determine whether the position of the target object has changed in response to detecting that the attribute information of the target object meets the lane-changing condition; A state determination unit is configured to determine that the state of the target object is changing lanes in response to detecting that the position of the target object has not changed; Determining whether the position of the target object has changed includes: A first distance is determined, which is used to characterize the lateral distance between the target object and the target lane line at the current moment, and the target lane line is the lane line of the lane where the target object is currently located; Determine a second distance, which is used to characterize the lateral distance between the target object and the target lane line at the previous moment; The position of the target object is determined based on the first distance and the second distance.

16. A state determination device, characterized in that, The device includes: The acquisition unit is used to acquire the field of view information of its own vehicle; The determining unit is used to determine the attribute information of the target object based on the field of view information; A jump determination unit is used to determine whether the position of the target object has changed in response to detecting that the attribute information of the target object meets the lane-changing condition; A state determination unit is configured to determine that the state of the target object is changing lanes in response to detecting that the position of the target object has not changed. Determining whether the position of the target object has changed includes: Obtain the relative speed, which is used to characterize the lateral movement speed of the target object relative to its own vehicle at the current moment; Determine the unit distance between the target object at the current time and the previous time, wherein the unit distance is used to characterize the lateral change distance of the target object relative to its own vehicle within a unit time. The position of the target object is determined based on the unit distance and the relative speed to determine whether the position has changed.

17. A computer-readable storage medium storing computer program instructions thereon, characterized in that, The computer program instructions, when executed by a processor, implement the method as described in any one of claims 1-8 or 9-12.

18. An electronic device, characterized in that, The device includes: Memory is used to store one or more computer program instructions; A processor, wherein the one or more computer program instructions are executed by the processor to implement the method as described in any one of claims 1-8 or 9-12.

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