Target update processing method, system, device and readable storage medium

Abstract

A target update processing method, system, device and readable storage medium, which relate to the field of intelligent driving, include determining an influence range according to the influence relationship between a target and an automatic emergency braking function; when it is detected that a target within the influence range is lost and the target has not exited the influence range, frame loss processing is performed to obtain a corrected target; when it is detected that a target within the influence range appears and the target has not entered the influence range, invalid processing is performed to obtain a corrected target. Through the present application, the occurrence of target frame loss or false targets can be effectively avoided, and the technical problems of mis-triggering or missed triggering of functions caused by false targets or target frame loss in the automatic emergency braking function are solved.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving, and particularly to a method, system, device and readable storage medium for target update processing. Background Art

[0002] Today, with the continuous progress of intelligent driving, accurately identifying information around the vehicle is of great significance for realizing driverless driving. At present, intelligent driving functions rely on a variety of sensor configurations, and a fusion system based on vision and radar can achieve more function development requirements at a lower cost. However, the fusion system may experience frame loss, misidentification, etc. due to vision recognition problems, thus outputting false targets or losing the number of target frames. In the aspect of the AEB (Automatic-Emergency-Braking) function, if false targets or target frame loss occur, it may lead to mis-triggering or missed triggering of this function, thereby affecting its performance. Therefore, solving the problems of false targets or target frame loss in the automatic emergency braking function to prevent mis-triggering or missed triggering of the function is an urgent challenge to be solved currently. Summary of the Invention

[0003] The present application provides a method, system, device and readable storage medium for target update processing, which can solve the technical problem of mis-triggering or missed triggering of the function caused by false targets or target frame loss in the existing automatic emergency braking function.

[0004] In a first aspect, an embodiment of the present application provides a method for target update processing, and the method for target update processing includes:

[0005] Determine an influence range according to the influence relationship between the target and the automatic emergency braking function;

[0006] When it is detected that a target within the influence range is lost and the target has not exited the influence range, perform frame loss processing to obtain a corrected target;

[0007] When it is detected that a target within the influence range appears and the target has not entered the influence range, perform invalid processing to obtain a corrected target.

[0008] In combination with the first aspect, in an implementation manner, the determining an influence range according to the influence relationship between the target and the automatic emergency braking function includes:

[0009] Obtain the longitudinal collision time according to the influence relationship between the target and the automatic emergency braking function;

[0010] Determine the influence range based on the longitudinal collision time and the speed corresponding to the longitudinal collision time.

[0011] In combination with the first aspect, in one embodiment, determining the influence range based on the longitudinal collision time and the speed corresponding to the longitudinal collision time includes:

[0012] If a collision risk is detected between the host vehicle and the target, an influence range is constructed based on the longitudinal collision time and the relative longitudinal speed of the host vehicle and the target;

[0013] If no collision risk is detected between the host vehicle and the target, an influence range is constructed based on the longitudinal collision time and the driving speed of the host vehicle.

[0014] In combination with the first aspect, in one embodiment, when it is detected that a target within the influence range is lost and the target has not exited the influence range, frame dropping processing is performed to obtain a corrected target, including:

[0015] When it is detected that a target within the influence range is lost and the target has not exited the influence range, target assignment is performed based on the attribute information of the previous frame before the target is lost to obtain a corrected target, so as to avoid target frame dropping.

[0016] In combination with the first aspect, in one embodiment, after the step of performing target assignment based on the attribute information of the previous frame before the target is lost to obtain a corrected target, it further includes:

[0017] Determine whether a target is detected within a preset number of frames;

[0018] If a target is detected, output the corrected target;

[0019] If no target is detected, discard the corrected target.

[0020] In combination with the first aspect, in one embodiment, when it is detected that a target within the influence range appears and the target has not entered the influence range, invalid processing is performed to obtain a corrected target, including:

[0021] When it is detected that a target within the influence range appears and the target has not entered the influence range, target assignment is performed based on the default value of the invalid target to obtain a corrected target, so as to avoid the appearance of false targets.

[0022] In combination with the first aspect, in one embodiment, after the step of performing target assignment based on the default value of the invalid target to obtain a corrected target, it further includes:

[0023] Determine whether the target is lost within a preset number of frames;

[0024] If the target is lost within a preset number of frames, discard the corrected target;

[0025] If the target is not lost within the preset number of frames, the attribute information of the target is output.

[0026] In a second aspect, an embodiment of the present application provides a target update processing system, characterized in that the target update processing system includes:

[0027] A first processing module, which is used to determine the influence range according to the influence relationship between the target and the automatic emergency braking function;

[0028] A second processing module, which is used to perform frame loss processing to obtain a corrected target when it is detected that the target within the influence range is lost and the target has not exited the influence range;

[0029] A third processing module, which is used to perform invalid processing to obtain a corrected target when it is detected that the target within the influence range appears and the target has not entered the influence range.

[0030] In a third aspect, an embodiment of the present application provides a target update processing device, where the target update processing device includes a processor, a memory, and a target update processing program stored on the memory and executable by the processor. When the target update processing program is executed by the processor, the steps of the target update processing method described in any one of the foregoing are implemented.

[0031] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a target update processing program is stored. When the target update processing program is executed by a processor, the steps of the target update processing method described in any one of the foregoing are implemented.

[0032] The beneficial effects brought by the technical solutions provided in the embodiments of the present application include:

[0033] By analyzing the influence relationship between the target and the automatic emergency braking function, the influence range is determined; when it is detected that the target is within the influence range, the target is lost, and the target has not exited the influence range, frame loss processing is performed to obtain corrected target data; when it is detected that the target is within the influence range and the target appears but has not entered the influence range, invalid processing is performed to obtain corrected target data. The present application avoids the problems of target frame loss or false targets by performing frame loss and invalid processing on the target, so as to improve the accuracy and reliability of the system, and further solves the technical problems of mis-triggering or missed-triggering caused by false targets or target frame loss in the automatic emergency braking function. Description of the Drawings

[0034] Figure 1 It is a schematic flowchart of an embodiment of the target update processing method of the present application;

[0035] Figure 2 For the present applicationFigure 1 Schematic diagram of the refined process of step S10 in

[0036] Figure 3 This application Figure 1 Schematic diagram of the refined process of step S102 in

[0037] Figure 4 Schematic diagram of the architecture of the target update processing system embodiment of this application;

[0038] Figure 5 Schematic diagram of the hardware structure of the target update processing device involved in the solution of the embodiment of this application. Detailed implementation manners

[0039] To enable those skilled in the art to better understand the solution of this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of this application.

[0040] To make the purpose, technical solution and advantages of this application clearer, the following will further describe the embodiments of this application in detail with reference to the accompanying drawings.

[0041] In a first aspect, the embodiments of this application provide a target update processing method.

[0042] In one embodiment, referring to Figure 1 , Figure 1 is the schematic diagram of the process of the target update processing method embodiment of this application. As Figure 1 shown, the target update processing method includes:

[0043] S10: Determine the influence range according to the influence relationship between the target and the automatic emergency braking function;

[0044] Exemplarily, in this embodiment, by analyzing the mutual influence between the target and the automatic emergency braking function, the influence range is clearly defined; within the influence range, when it is detected that the target is within the influence range and the target state changes, the system will take corresponding processing measures to ensure the effective operation of the emergency braking function, and while maintaining the accuracy and reliability of the automatic emergency braking function, ensure that the system can effectively respond to the target within the influence range, thereby improving the safety of the entire system.

[0045] S20: When it is detected that the target within the influence range is lost and the target has not exited the influence range, perform frame loss processing to obtain a corrected target;

[0046] Exemplarily, it should be noted that for a target, if it is within the influence range at the current moment and outside the influence range at the previous moment, it is determined that the target has entered the influence range; and if it is outside the influence range at the current moment and within the influence range at the previous moment, it is determined that the target has exited the influence range. Among them, the frame rates of the current moment and the previous moment are determined based on an integer multiple of the output frame rate of the fusion system, and the multiple of the output frame rate can be determined according to the actual vehicle effect. For example, the multiple of the output frame rate is set to 1 to 3 times.

[0047] In this embodiment, when it is detected that a target within the influence range set by the system is lost and the target has not exited the influence range, the system will perform an operation of dropping frames; for example, assuming that target A is detected within the influence range at time t1, but target A is not detected within the influence range at time t2, and target A is not detected outside the influence range either, that is, it is detected that the target within the influence range is lost and the target has not exited the influence range. At this time, frame dropping processing will be performed to avoid the problem of target frame loss, where t2 > t1.

[0048] It can be understood that frame dropping processing helps the system to continue tracking when the target reappears and reduces information breakage caused by short-term target loss. Therefore, in this embodiment, by performing frame dropping correction on the target information, the system can better adapt to changes in the target state, improve the continuous perception ability of the target, and ensure that even when the target is lost, the system can still maintain continuous monitoring and tracking of the target, and further ensure that the emergency braking function can respond timely and accurately in the case of target loss, enhancing the safety and reliability of the entire system.

[0049] S30: When it is detected that a target within the influence range appears and the target has not entered the influence range, invalid processing is performed to obtain the corrected target.

[0050] Exemplarily, in this embodiment, when the system detects that a target that should be within the influence range appears outside the influence range and the target has not entered the influence range, invalid processing will be performed to obtain the corrected target information; for example, assuming that target A is detected within the influence range at time t0, and target A is detected outside the influence range at time t1 and the target A has not entered the influence range, that is, a false target is detected. At this time, target invalid processing will be performed to avoid the problem of false targets, where t1 > t0. The invalid processing improves the detection accuracy of the system and the accuracy of target recognition by excluding targets that do not pose a collision risk, so as to process more precisely the targets that truly have potential collision risks, thereby improving safety and reliability.

[0051] It should be noted that when performing invalidation processing, the system can fully consider factors such as the position (horizontal and vertical distances), speed (horizontal and vertical speeds), acceleration (horizontal and vertical accelerations), type, length, width, height, ID, and motion state of the target to ensure accurate and reasonable processing of the target. At the same time, the specific method and strategy of invalidation processing can also be determined according to the actual situation and requirements to maximize the performance and effect of the system. Generally speaking, invalidation processing is a processing strategy for targets that appear within the influence range but have not entered the influence range, aiming to improve the detection accuracy of the system and the accuracy of target recognition, thereby ensuring the safety and reliability of the system.

[0052] Furthermore, in one embodiment, as Figure 2 shown, determining the influence range according to the influence relationship between the target and the automatic emergency braking function includes:

[0053] S101: Obtain the longitudinal collision time according to the influence relationship between the target and the automatic emergency braking function;

[0054] S102: Determine the influence range based on the longitudinal collision time and the speed corresponding to the longitudinal collision time.

[0055] Exemplarily, it should be noted that the longitudinal collision time refers to the time interval between the host vehicle and the target when a collision occurs. By analyzing the relationship between the target and the automatic emergency braking function, the time of the collision can be predicted, and this time can be calculated based on factors such as the motion state of the target and the response time of the automatic emergency braking function.

[0056] It can be understood that since the AEB pre-function FCW (Forward-Collision-Warning) has an influence time, that is, there is a longitudinal collision time, the possible collision range (i.e., the influence range) can be determined according to the longitudinal collision time and the relative longitudinal speed between the target and the host vehicle or the driving speed of the host vehicle. This range can be used to evaluate the collision risk between the target and the host vehicle. If the collision risk is high, corresponding measures need to be taken to avoid the occurrence of a collision.

[0057] Furthermore, in one embodiment, as Figure 3 shown, determining the influence range based on the longitudinal collision time and the speed corresponding to the longitudinal collision time includes:

[0058] S1021: If a collision risk is detected between the host vehicle and the target, construct an influence range based on the longitudinal collision time and the relative longitudinal speed of the host vehicle and the target;

[0059] S1022: If it is detected that there is no collision risk between the host vehicle and the target, an influence range is constructed based on the longitudinal collision time and the driving speed of the host vehicle.

[0060] Exemplarily, in this embodiment, when the system detects that there is a collision risk between the host vehicle and the target, an influence range is constructed according to the longitudinal collision time and the relative longitudinal speed between the host vehicle and the target. For example, taking the automatic emergency braking function as an example, a coordinate system is established with the center of the rear axle of the host vehicle as the coordinate origin, the head direction of the vehicle as the longitudinal axis, and the direction perpendicular to the head as the transverse axis. The coordinate system is defined as negative on the left and positive on the right. Assuming that the longitudinal collision time is set to 4.0 s, the distance corresponding to the host vehicle traveling at the relative longitudinal speed between the host vehicle and the target for 4.0 s of the longitudinal collision time is calculated, and this distance is used as the side length of a square; then, a square is constructed with this side length of the square and the coordinate origin, and this square is the influence range, which is used to guide the operation of the automatic emergency braking function and other collision avoidance measures.

[0061] When the system detects that there is no collision risk between the host vehicle and the target, an influence range is constructed according to the longitudinal collision time and the driving speed of the host vehicle. Specifically, based on a principle similar to the above construction of the influence range, first, the distance corresponding to the host vehicle traveling at the driving speed of the host vehicle for 4.0 s of the longitudinal collision time is calculated, and this distance is used as the side length of a square; then, a square is constructed with this side length of the square and the coordinate origin, and this square is the influence range, which is used to evaluate the driving safety of the host vehicle at the current speed.

[0062] Further, in one embodiment, when it is detected that the target within the influence range is lost and the target has not exited the influence range, frame dropping processing is performed to obtain a corrected target, including:

[0063] When it is detected that the target within the influence range is lost and the target has not exited the influence range, the target is assigned values based on the attribute information of the previous frame before the target is lost to obtain a corrected target, so as to avoid target frame dropping.

[0064] Exemplarily, in this embodiment, in order to avoid frame dropping of the target during the detection process, when the system detects that the target is lost, the attribute information of the previous frame before the target is lost is assigned to the target, thereby correcting the state of the target. Among them, the attribute information includes all target information such as position (lateral and longitudinal distances), speed (lateral and longitudinal speeds), acceleration (lateral and longitudinal accelerations), type, length, width, height, ID, motion state, etc.

[0065] Specifically, the attribute information of the previous frame before the target is lost is assigned to the target and continuously assigned for a preset number of frames, so as to maintain the continuity of the target and improve the accuracy of target detection. Among them, the preset number of frames can be determined according to the actual vehicle effect. For example, the number of frames can be set to 3 frames.

[0066] Further, in one embodiment, after the step of performing target assignment based on the attribute information of the previous frame before target loss to obtain the corrected target, the method further includes:

[0067] Determining whether a target is detected within a preset number of frames;

[0068] If a target is detected, outputting the corrected target;

[0069] If no target is detected, discarding the corrected target.

[0070] Exemplarily, in this embodiment, the system determines whether a target is detected within a preset number of frames. If a target is successfully detected within the preset number of frames, the corrected target information will be output. The target information includes attributes such as the position, speed, and acceleration of the target. The corrected target information is more accurate and reliable. If no target is detected within the preset number of frames, it indicates that the target may have become invalid or there is a detection error, and the system will discard the corrected target information. For example, if the target is A and the corrected target is A1, assuming that target A is detected within the preset number of frames, it means that there is no frame loss problem with the target, and the corrected target A1 will be output to the target selection module in the intelligent driving system. The target selection module will select one or more targets from the input multiple target information for subsequent processing by the system. Assuming that target A is not detected within the preset number of frames, it means that the target has become invalid or has moved out of the influence range, that is, there is no need to perform intelligent driving planning based on this target, and thus there is no need to input this target into the target selection module. Therefore, the corrected target A1 will be directly discarded.

[0071] Further, in one embodiment, the step of, when a target within the influence range appears and the target has not entered the influence range, performing invalid processing to obtain the corrected target includes:

[0072] When a target within the influence range appears and the target has not entered the influence range, performing target assignment based on the default value of the invalid target to obtain the corrected target, so as to avoid the appearance of false targets.

[0073] Exemplarily, in this embodiment, when a false target is detected, the default value of the invalid target is assigned to the target and continuously assigned for a preset number of frames to correct the state of the target, thereby avoiding the system from misidentifying false targets. Among them, the preset number of frames can be determined according to the actual vehicle effect. For example, the number of frames can be set to 3 frames.

[0074] Further, in one embodiment, after the step of performing target assignment based on the default value of the invalid target to obtain the corrected target, the method further includes:

[0075] Determine whether the target is lost within a preset number of frames;

[0076] If the target is lost within a preset number of frames, discard the corrected target;

[0077] If the target is not lost within a preset number of frames, output the attribute information of the target.

[0078] Exemplarily, in this embodiment, the system will determine whether the target is lost within a preset number of frames. If the target is lost within a preset number of frames, it means that the detected target is a false target and the target has been assigned the default value of an invalid target, so it will be discarded. If the target is not lost within a preset number of frames, the attribute information of the target will be output. For example, the target is A and its attribute information is X1, the corrected target is A2 and A2 is an invalid target, and the attribute information of A2 is 0; assuming that the target A is lost within a preset number of frames, indicating a false target, then discard the corrected target A2; assuming that the target A is not lost within a preset number of frames, indicating that there is no false target, that is, the target A is a real target, then assign the attribute information X1 of A to A2 to obtain the corrected target A3, and output the attribute information of the corrected target A3.

[0079] In the embodiment of the present application, the influence range is determined by analyzing the influence relationship between the target and the automatic emergency braking function; when it is detected that the target is within the influence range and the target is lost and has not exited the influence range, frame dropping processing is performed to obtain the corrected target data; when it is detected that the target is within the influence range and the target appears but has not entered the influence range, invalid processing is performed to obtain the corrected target data. The present application avoids the problems of target frame loss or false targets by performing frame dropping and invalid processing on the target, so as to improve the accuracy and reliability of the system, and further solves the technical problems of mis-triggering or missed triggering caused by false targets or target frame loss in the automatic emergency braking function.

[0080] In a second aspect, the embodiment of the present application further provides a target update processing system.

[0081] In one embodiment, refer to Figure 4 , Figure 4 which is a schematic diagram of the functional modules of the embodiment of the target update processing system of the present application. As Figure 4 shown, the target update processing system includes:

[0082] A first processing module, which is used to determine the influence range according to the influence relationship between the target and the automatic emergency braking function;

[0083] A second processing module, which is used to perform frame dropping processing to obtain the corrected target when it is detected that the target within the influence range is lost and the target has not exited the influence range;

[0084] A third processing module, which is configured to perform invalid processing to obtain a corrected target when it is detected that a target within the influence range appears and the target has not entered the influence range.

[0085] Further, in an embodiment, the first processing module is specifically configured to:

[0086] Obtain the longitudinal collision time according to the influence relationship between the target and the automatic emergency braking function;

[0087] Determine the influence range based on the longitudinal collision time and the speed corresponding to the longitudinal collision time.

[0088] Further, in an embodiment, the first processing module is specifically further configured to:

[0089] If a collision risk is detected between the host vehicle and the target, construct an influence range based on the longitudinal collision time and the relative longitudinal speed of the host vehicle and the target;

[0090] If no collision risk is detected between the host vehicle and the target, construct an influence range based on the longitudinal collision time and the driving speed of the host vehicle.

[0091] Further, in an embodiment, the second processing module is specifically configured to:

[0092] When it is detected that a target within the influence range is lost and the target has not exited the influence range, perform target assignment based on the attribute information of the frame before the target is lost to obtain a corrected target, so as to avoid target frame loss.

[0093] Further, in an embodiment, the second processing module is specifically further configured to:

[0094] Determine whether a target is detected within a preset number of frames;

[0095] If a target is detected, output the corrected target;

[0096] If no target is detected, discard the corrected target.

[0097] Further, in an embodiment, the third processing module is specifically configured to:

[0098] When it is detected that a target within the influence range appears and the target has not entered the influence range, perform target assignment based on the invalid target default value to obtain a corrected target, so as to avoid false targets.

[0099] Further, in an embodiment, the third processing module is specifically further configured to:

[0100] Determine whether the target is lost within a preset number of frames;

[0101] If the target is lost within the preset number of frames, the corrected target is discarded;

[0102] If the target is not lost within the preset number of frames, the attribute information of the target is output.

[0103] In the embodiments of the present application, the influence range is determined by analyzing the influence relationship between the target and the automatic emergency braking function; when it is detected that the target is within the influence range, the target is lost and has not exited the influence range, frame loss processing is performed to obtain the corrected target data; when it is detected that the target is within the influence range and the target appears but has not entered the influence range, invalid processing is performed to obtain the corrected target data. The present application avoids the problems of target frame loss or false targets by performing frame loss and invalid processing on the target, so as to improve the accuracy and reliability of the system, and further solves the technical problems of false triggering or missed triggering caused by false targets or target frame loss in the automatic emergency braking function.

[0104] Among them, the function implementation of each module in the above target update processing device corresponds to each step in the embodiment of the above target update processing method, and its function and implementation process will not be described in detail here.

[0105] In a third aspect, an embodiment of the present application provides a target update processing device, and the target update processing device may be a device with data processing functions such as a personal computer (PC), a laptop computer, a server, etc.

[0106] Referring to Figure 5 , Figure 5 is a schematic diagram of the hardware structure of the target update processing device involved in the embodiment of the present application. In the embodiment of the present application, the target update processing device may include a processor, a memory, a communication interface, and a communication bus.

[0107] Among them, the communication bus may be of any type and is used to interconnect the processor, the memory, and the communication interface.

[0108] The communication interface includes interfaces such as input / output (I / O) interfaces, physical interfaces, and logical interfaces for realizing the interconnection of components inside the target update processing device, and interfaces for realizing the interconnection of the target update processing device with other devices (such as other computing devices or user devices). The physical interface may be an Ethernet interface, an optical fiber interface, an ATM interface, etc.; the user device may be a display (Display), a keyboard (Keyboard), etc.

[0109] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical memory, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0110] The processor can be a general-purpose processor, which can call the target update processing program stored in the memory and execute the target update processing method provided by the embodiments of the present application. For example, the general-purpose processor can be a central processing unit (CPU). Among them, the method executed when the target update processing program is called can refer to the various embodiments of the target update processing method of the present application, which will not be elaborated here.

[0111] Those skilled in the art can understand that Figure 5 the hardware structure shown in

[0112] In a fourth aspect, the embodiments of the present application further provide a readable storage medium.

[0113] The target update processing program is stored on the readable storage medium of the present application. When the target update processing program is executed by a processor, the steps of the target update processing method as described above are implemented.

[0114] Among them, the method implemented when the target update processing program is executed can refer to the various embodiments of the target update processing method of the present application, which will not be elaborated here.

[0115] The terms "including" and "having" and any variations thereof in the specification, claims and drawings of the present application are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products or devices. The descriptions of the terms "first", "second", "third", etc. are used to distinguish different objects, etc., which do not represent a sequence, nor do they limit that "first", "second" and "third" are different types.

[0116] In the description of the embodiments of this application, words such as "exemplary", "for example", or "for illustration purposes" are used to indicate examples, illustrations, or explanations. Any embodiment or design solution described as "exemplary", "for example", or "for illustration purposes" in the embodiments of this application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of words such as "exemplary", "for example", or "for illustration purposes" is intended to present relevant concepts in a specific manner.

[0117] In the description of the embodiments of this application, unless otherwise specified, " / " means "or". For example, A / B may represent A or B; "and / or" in the text is merely a description of the association relationship between associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of this application, "a plurality of" means two or more than two.

[0118] In some processes described in the embodiments of this application, there are multiple operations or steps that appear in a specific order. However, it should be understood that these operations or steps may not be executed in the order in which they appear in the embodiments of this application or may be executed in parallel. The serial numbers of the operations are only used to distinguish different operations, and the serial numbers themselves do not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed in sequence or in parallel, and these operations or steps may be combined.

[0119] It should be noted that the serial numbers of the above embodiments of this application are only for description and do not represent the advantages or disadvantages of the embodiments.

[0120] Through the description of the above embodiments, those skilled in the art can clearly understand that the above embodiment methods can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above and includes several instructions to enable a terminal device to execute the methods described in the various embodiments of this application.

[0121] The above are only the preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or equivalent process transformation made by using the specification and drawings of this application, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of this application.

Claims

1. A method for target update processing, characterized in that, the method for target update processing includes: determining an influence range according to the influence relationship between the target and the automatic emergency braking function; when it is detected that the target within the influence range is lost and the target has not exited the influence range, frame dropping processing is performed to obtain a corrected target; when it is detected that the target within the influence range appears and the target has not entered the influence range, invalid processing is performed to obtain a corrected target; wherein, the step of when it is detected that the target within the influence range is lost and the target has not exited the influence range, frame dropping processing is performed to obtain a corrected target, includes: when it is detected that the target within the influence range is lost and the target has not exited the influence range, target assignment is performed based on the attribute information of the previous frame before the target is lost to obtain a corrected target, so as to avoid target frame dropping, wherein the attribute information includes position, speed, acceleration, type, length, width, height, ID, and motion state; after the step of performing target assignment based on the attribute information of the previous frame before the target is lost to obtain a corrected target, it further includes: judging whether a target is detected within a preset number of frames; if a target is detected, output the corrected target; if no target is detected, discard the corrected target; the step of when it is detected that the target within the influence range appears and the target has not entered the influence range, invalid processing is performed to obtain a corrected target, includes: when it is detected that the target within the influence range appears and the target has not entered the influence range, target assignment is performed based on the default value of the invalid target to obtain a corrected target, so as to avoid false targets; after the step of performing target assignment based on the default value of the invalid target to obtain a corrected target, it further includes: judging whether the target is lost within a preset number of frames; if the target is lost within a preset number of frames, discard the corrected target; if the target is not lost within a preset number of frames, output the attribute information of the target.

2. The method for target update processing according to claim 1, characterized in that, the step of determining an influence range according to the influence relationship between the target and the automatic emergency braking function includes: obtaining the longitudinal collision time according to the influence relationship between the target and the automatic emergency braking function; determining an influence range based on the longitudinal collision time and the speed corresponding to the longitudinal collision time.

3. The method for target update processing according to claim 2, characterized in that, the step of determining an influence range based on the longitudinal collision time and the speed corresponding to the longitudinal collision time includes: if it is detected that there is a collision risk between the host vehicle and the target, an influence range is constructed based on the longitudinal collision time and the relative longitudinal speed of the host vehicle and the target; if it is detected that there is no collision risk between the host vehicle and the target, an influence range is constructed based on the longitudinal collision time and the driving speed of the host vehicle.

4. A target update processing system, characterized in that, the target update processing system includes: a first processing module, which is used to determine an influence range according to the influence relationship between the target and the automatic emergency braking function; A second processing module, which is configured to perform frame dropping processing to obtain a corrected target when it is detected that a target within the influence range is lost and the target has not exited the influence range; A third processing module, which is configured to perform invalid processing to obtain a corrected target when it is detected that a target within the influence range appears and the target has not entered the influence range; Wherein, the second processing module is specifically further configured to: When it is detected that a target within the influence range is lost and the target has not exited the influence range, perform target assignment based on the attribute information of the previous frame before the target is lost to obtain a corrected target, so as to avoid target frame dropping, where the attribute information includes position, speed, acceleration, type, length, width, height, ID, and motion state; Determine whether a target is detected within a preset number of frames; If a target is detected, output the corrected target; If no target is detected, discard the corrected target; Wherein, the third processing module is specifically configured to: When it is detected that a target within the influence range appears and the target has not entered the influence range, perform target assignment based on the default value of the invalid target to obtain a corrected target, so as to avoid false targets; Determine whether the target is lost within a preset number of frames; If the target is lost within a preset number of frames, discard the corrected target; If the target is not lost within a preset number of frames, output the attribute information of the target.

5. A target update processing device, Characterized in that, The target update processing device includes a processor, a memory, and a target update processing program stored on the memory and executable by the processor, wherein when the target update processing program is executed by the processor, the steps of the target update processing method according to any one of claims 1 to 3 are implemented.

6. A computer-readable storage medium, Characterized in that, A target update processing program is stored on the computer-readable storage medium, wherein when the target update processing program is executed by a processor, the steps of the target update processing method according to any one of claims 1 to 3 are implemented.

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