Method and apparatus for determining perception information, vehicle, storage medium and program product

Abstract

The method comprises: receiving first driving information and perception capability information of a following vehicle sent by the following vehicle; determining second driving information of a traffic participant in a driving environment of the following vehicle according to the first driving information, the perception capability information and perception information of a leading vehicle; determining a target traffic participant from the traffic participant according to the first driving information and the second driving information, and sending the perception information of the target traffic participant to the following vehicle; the target traffic participant is a traffic participant that influences planning of a driving path of the following vehicle. The method can improve the accuracy of the perception information obtained by the following vehicle in a vehicle platoon.

Description

Technical Field

[0001] This disclosure relates to the field of environmental perception technology, and in particular to a method, apparatus, vehicle, storage medium, and program product for determining perception information. Background Technology

[0002] Typically, the lead vehicle in a convoy is driven by a human, while the following vehicles use the perception information sent by the lead vehicle and the perception information they perceive themselves to achieve autonomous driving.

[0003] However, traditional technologies suffer from low accuracy in obtaining perception information while following vehicles. Summary of the Invention

[0004] This disclosure provides a method, apparatus, vehicle, storage medium, and program product for determining sensing information, which can improve the accuracy of sensing information acquired by following vehicles in a vehicle platoon.

[0005] In a first aspect, embodiments of this disclosure provide a method for determining perception information, the method being applied to a convoy of vehicles, the convoy including a lead vehicle and at least one autonomous following vehicle; the method includes:

[0006] Receive the first driving information and perception capability information of the following vehicle sent by the following vehicle;

[0007] Based on the first driving information, the perception capability information, and the perception information of the lead vehicle, the second driving information of traffic participants in the driving environment of the following vehicle is determined;

[0008] Based on the first driving information and the second driving information, a target traffic participant is identified from the traffic participants, and the perception information of the target traffic participant is sent to the following vehicle; the target traffic participant is a traffic participant that influences the planning of the following vehicle's driving path.

[0009] In a second aspect, embodiments of this disclosure provide a device for determining perception information, the device being applied to a convoy of vehicles, the convoy including a lead vehicle and at least one autonomous following vehicle; the device includes:

[0010] The receiving module is used to receive the first driving information and perception capability information of the following vehicle sent by the following vehicle;

[0011] The first determining module is used to determine the second driving information of traffic participants in the driving environment of the following vehicle based on the first driving information, the perception capability information and the perception information of the lead vehicle;

[0012] The sending module is used to determine a target traffic participant from the traffic participants based on the first driving information and the second driving information, and to send the perception information of the target traffic participant to the following vehicle; the target traffic participant is a traffic participant that influences the planning of the driving path of the following vehicle.

[0013] Thirdly, embodiments of this disclosure provide a vehicle including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method described in the first aspect above.

[0014] Fourthly, embodiments of this disclosure provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in the first aspect above.

[0015] Fifthly, embodiments of this disclosure provide a computer program product, including a computer program that, when executed by a processor, implements the method described in the first aspect above.

[0016] The method, apparatus, vehicle, storage medium, and program product for determining perception information provided in this disclosure allow a lead vehicle in a convoy to receive first driving information and perception capability information from following vehicles. Based on this first driving information, perception capability information, and the lead vehicle's perception information, the lead vehicle can determine second driving information of traffic participants in the following vehicles' driving environment. Since the lead vehicle determines the second driving information based on the first driving information and perception capability information of the following vehicles, the accuracy of the determined second driving information is improved. This allows for the accurate identification of target traffic participants affecting the planned driving path of the following vehicles, based on the first and second driving information. The lead vehicle then sends the perception information of these target traffic participants to the following vehicles, enabling them to receive accurate perception information of the target traffic participants and improving the accuracy of the perception information determined by the following vehicles. Furthermore, because the lead vehicle sends the perception information of the target traffic participants to the following vehicles, rather than sending the perception information of all traffic participants in the following vehicles' driving environment, the amount of data transmitted can be controlled, preventing the amount of data transmitted from exceeding the transmission bandwidth and improving the perception capability of the following vehicles with limited transmission bandwidth. Attached Figure Description

[0017] Figure 1 This is an application environment diagram of a method for determining perceived information in one embodiment;

[0018] Figure 2 This is a flowchart illustrating a method for determining perceived information in one embodiment;

[0019] Figure 3This is a flowchart illustrating a method for determining perceived information in another embodiment;

[0020] Figure 4 This is a schematic diagram of the blind spot and region of interest of a following vehicle in one embodiment;

[0021] Figure 5 This is a flowchart illustrating a method for determining perceived information in another embodiment;

[0022] Figure 6 This is a schematic diagram of different regions of interest for the following vehicle in one embodiment;

[0023] Figure 7 This is a flowchart illustrating a method for determining perceived information in another embodiment;

[0024] Figure 8 This is a flowchart illustrating a method for determining perceived information in another embodiment;

[0025] Figure 9 This is a structural block diagram of a device for determining perceived information in one embodiment;

[0026] Figure 10 This is a structural block diagram of the sensing information determination device in another embodiment;

[0027] Figure 11 This is an internal structural diagram of the electronic equipment in a vehicle according to one embodiment. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of the embodiments of this disclosure clearer, the embodiments of this disclosure will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the embodiments of this disclosure and are not intended to limit the embodiments of this disclosure.

[0029] It should be noted that a convoy can include a lead vehicle and at least one follower vehicle. The lead vehicle is manually driven, while the follower vehicles are autonomous vehicles. During convoy operations, the lead vehicle can transmit its collected perception information to the follower vehicles, which can then plan their routes based on the received and their own collected perception information. However, in real-world driving environments, blind spots exist because the follower vehicles may be obstructed by the lead vehicle or nearby vehicles. Therefore, there may be situations where a vehicle on the road is within the follower vehicle's blind spot, and the lead vehicle fails to transmit that vehicle's perception information to the follower vehicles, resulting in lower accuracy of the follower vehicles' perception information.

[0030] First, before introducing the technical solutions of the embodiments of this disclosure in detail, the technical background or evolution of the embodiments of this disclosure will be introduced. Generally, in the field of environmental perception technology, the current technical background is as follows: In a vehicle platoon, due to the short distance between vehicles, the perception range of the following vehicle is obstructed by the lead vehicle, resulting in blind spots and thus low accuracy of the following vehicle's perception information. Based on this background, through long-term model simulation research and development, as well as the collection, demonstration, and verification of experimental data, the applicant discovered that due to bandwidth limitations in data transmission, the lead vehicle cannot send all the acquired perception information to the following vehicles. Therefore, the perception information received by the following vehicles is incomplete, with missing perception information for some blind spots, resulting in low accuracy of the following vehicle's perception information. How to improve the accuracy of the following vehicle's perception information has become an urgent problem to be solved. Furthermore, it should be noted that the applicant has devoted considerable creative effort to determining the problem of the lead vehicle's inability to send all the acquired perception information to the following vehicles and to the technical solutions described in the following embodiments.

[0031] The technical solutions involved in the embodiments of this disclosure will be described below in conjunction with the scenarios in which they are applied.

[0032] The method for determining sensing information provided in this disclosure can be applied to, for example... Figure 1 The vehicle platoon shown includes a lead vehicle 102 and at least one autonomous following vehicle 104. The lead vehicle 102 communicates with the following vehicle 104 via a network. The lead vehicle 102 receives first driving information and perception information from the following vehicle 104, and then determines second driving information of traffic participants related to the planned driving path of the following vehicle 104 based on the perception information of the lead vehicle 102 and sends it to the following vehicle 104, enabling the following vehicle 104 to plan its driving path based on the received information. The lead vehicle 102 can communicate with the following vehicle 104 via vehicle-to-vehicle communication (V2V). This embodiment of the disclosure does not limit the communication method between the lead vehicles 102 and the following vehicle 104. Among them, V2V is a common vehicle-to-vehicle wireless communication technology that enables short-range communication between vehicles. For example, in a convoy of vehicles, the lead vehicle 102 can use V2V technology to send its own driving information to the following vehicle 104 in the convoy. Alternatively, the lead vehicle 102 can use V2V technology to send control information for controlling the driving of the following vehicle 104 in the convoy to the following vehicle 104 in the convoy. Or, the following vehicle 104 can also use V2V technology to send its own driving information to the lead vehicle 102 in the convoy.

[0033] In one embodiment, such as Figure 2 As shown, a method for determining perception information is provided. This method is applied to a convoy of vehicles, which includes a lead vehicle and at least one autonomous following vehicle. Figure 1 Taking the lead car 102 as an example, the explanation includes the following steps:

[0034] S201 receives the first driving information and perception capability information of the following vehicle sent by the following vehicle.

[0035] Optionally, in a convoy of vehicles, there can be one or more following vehicles. The initial driving information of the following vehicles can include their speed, position, driving intention, accelerator pedal opening, brake pedal opening, and actual engine output torque. The perception capability information can include the acquisition range and detection distance of the following vehicles' sensors, radar, and other perception information collection devices. It can be understood that the following vehicles can obtain their own speed using their speed sensors, determine their own position using their position sensors, determine their driving intention using their own path planning system, and retrieve pre-set perception capability information from their own storage devices.

[0036] It is understandable that once both the lead vehicle and the follower vehicle are powered on and operating, they can uniformly correct their positioning results using a satellite navigation system or a high-precision map to ensure they are on the same driving path. In this embodiment, after the positioning results of the lead vehicle and the follower vehicle are uniformly corrected, the lead vehicle can receive the follower vehicle's initial driving information and perception capability information via a network. Optionally, the follower vehicle can send the initial driving information and perception capability information to the lead vehicle via V2V communication; alternatively, the follower vehicle can also send the initial driving information and perception capability information to the lead vehicle via Bluetooth communication. Optionally, the follower vehicle's initial driving information can be sent autonomously and in real-time to the lead vehicle via short-range communication, or the lead vehicle can send a request command to the follower vehicle, instructing the follower vehicle to send its own initial driving information to the lead vehicle.

[0037] S202, based on the first driving information, perception capability information and the perception information of the lead vehicle, determine the second driving information of traffic participants in the driving environment of the following vehicle.

[0038] Among them, the perception information of the lead vehicle refers to the perception information collected by the perception information collection device of the lead vehicle. Based on the perception information of the lead vehicle, the traffic participants perceived by the lead vehicle can be identified. Optionally, traffic participants may include other motor vehicles, non-motor vehicles, pedestrians, etc. on the road. The second driving information of traffic participants may include information such as location, driving speed, and driving intention.

[0039] In this embodiment, the position of the following vehicle can be determined based on the first driving information, the range of perception information that the following vehicle can acquire can be determined based on the perception capability information, and the traffic participants in the driving environment can be determined based on the perception information of the lead vehicle. Thus, the traffic participants related to the driving environment of the following vehicle can be determined based on the position of the following vehicle and the range of perception information, and the second driving information of the traffic participants related to the driving environment of the following vehicle can be determined based on the perception information of the lead vehicle.

[0040] S203, based on the first driving information and the second driving information, identify the target traffic participant from among the traffic participants, and send the perception information of the target traffic participant to the following vehicle; the target traffic participant is the traffic participant that affects the planned driving path of the following vehicle.

[0041] Understandably, due to the limited bandwidth of the transmission channel between the lead vehicle and the following vehicle, the lead vehicle cannot send the second driving information of traffic participants in the following vehicle's driving environment to the following vehicle. However, it can identify traffic participants that can affect the planned driving path of the following vehicle from among these traffic participants. For example, if a traffic participant is in the following vehicle's blind spot and is in the following vehicle's possible planned driving path, then the traffic participant will affect the normal driving of the following vehicle, and the traffic participant can be identified as the target traffic participant.

[0042] In this embodiment, the lead vehicle can determine the target traffic participant by determining whether there is information overlap between the first driving information and the second driving information. If there is overlapping driving information, it can be determined that the traffic participant corresponding to the second driving information may affect the planned driving path of the following vehicle. The traffic participant can be identified as the target traffic participant, and the perception information of the target traffic participant can be determined from the second driving information and sent to the following vehicle.

[0043] It is understandable that, upon receiving perception information from the target traffic participant, the following vehicle can directly determine the planned driving route based on the received perception information; alternatively, the following vehicle can also determine the planned driving route based on the received perception information from the target traffic participant and the perception information acquired by the following vehicle's perception information collection equipment.

[0044] As an optional implementation, if the following vehicle's perception information acquisition device malfunctions and cannot acquire the perception information of traffic participants in the following vehicle's driving environment, the following vehicle can send the malfunction status information to the lead vehicle. The lead vehicle can then prioritize sending the perception information of traffic participants on the emergency stopping road to the following vehicle to ensure that the following vehicle can safely stop based on the received perception information. Thus, the safety of the following vehicle is ensured through the perception information transmitted between the lead vehicle and the following vehicle.

[0045] In the aforementioned method for determining perception information, the lead vehicle in the convoy receives the first driving information and perception capability information of the following vehicles. Based on this information, the lead vehicle can determine the second driving information of traffic participants in the following vehicles' driving environment. Since the lead vehicle determines the second driving information based on the first driving information and perception capability information of the following vehicles, the accuracy of the determined second driving information is improved. This allows the lead vehicle to accurately identify the target traffic participants that influence the planned driving path of the following vehicles, and then send the perception information of the target traffic participants to the following vehicles. This ensures that the following vehicles receive accurate perception information of the target traffic participants, improving the accuracy of the perception information determined by the following vehicles. Furthermore, since the lead vehicle sends the perception information of the target traffic participants to the following vehicles, rather than sending the perception information of all traffic participants in the following vehicles' driving environment, the amount of data transmitted can be controlled, preventing the amount of data transmitted from exceeding the transmission bandwidth. This allows the lead vehicle to improve the perception capability of the following vehicles with limited transmission bandwidth.

[0046] In the scenario described above, where second driving information of traffic participants in the following vehicle's driving environment is determined based on first driving information, perception capability information, and the perception information of the lead vehicle, the second driving information can also be determined by identifying the following vehicle's blind spot and region of interest, as well as the information of traffic participants within the blind spot and region of interest. In one embodiment, such as... Figure 3 As shown, the above S202 includes:

[0047] S301 determines the blind spot and area of ​​interest of the following vehicle based on the first driving information and perception capability information.

[0048] Understandably, in a convoy of vehicles, the following vehicle's perception information collection equipment cannot capture environmental information for certain areas due to the lead vehicle's obstruction. This results in the following vehicle only being able to perceive a portion of the driving environment, which can be defined as blind spots. Since the following vehicle operates autonomously, it needs to predict its planned driving path for the future based on the acquired perception information. Therefore, the road areas traversed by the planned driving path can be defined as the region of interest for the following vehicle.

[0049] For example, such as Figure 4 As shown, taking a vehicle convoy consisting of one lead vehicle and one following vehicle as an example, Figure 4In the diagram, area A (solid line on the left) represents the perception range of the following vehicle. Area B (dashed line in the middle) represents the range where both the lead and following vehicles can obtain perception information. Area C (solid line on the right) represents the perception range of the lead vehicle. However, due to the lead vehicle's obstruction, area C is a blind spot for the following vehicles. Area A includes vehicle 1, and area C includes vehicles 2 and 3. Therefore, the lead vehicle can obtain perception information from vehicles 1, 2, and 3. However, because vehicle 2 is obstructed by vehicle 1, and vehicle 3 is in the following vehicle's blind spot, the following vehicles can only obtain perception information from vehicle 1, and cannot obtain perception information from vehicles 2 and 3. Therefore, during platooning, the perception information of vehicles 2 and 3 can be obtained by the lead vehicle and then transmitted to the following vehicles.

[0050] In this embodiment, the range in which the following vehicle cannot obtain perception information can be determined based on the first driving information and perception capability information of the following vehicle, as well as the planned path that the following vehicle may travel in the future time period. Thus, the range in which the following vehicle cannot obtain perception information is determined as the driving blind spot, and the road area involved in the planned path that the following vehicle may travel in the future time period is determined as the region of interest.

[0051] S302 determines the driving information of traffic participants in blind spots and areas of interest based on the perception information of the lead vehicle.

[0052] Among them, traffic participants in the driving blind spot are those for whom the following vehicle cannot obtain perceptual information, such as the aforementioned Figure 4 For vehicles 2 and 3, the traffic participants in the region of interest are those that may appear on the planned travel path of the following vehicles within a future time period. For example, if the region of interest of the following vehicles is as described above... Figure 4 If we consider area B, then vehicle number 3 in area B is a traffic participant in the area of ​​interest.

[0053] In this embodiment, based on the perception information of the lead vehicle, it can determine which traffic participants exist in the driving environment; based on the blind spot and the location information of traffic participants in the driving environment, it can determine which traffic participants are in the blind spot, thereby identifying the traffic participants in the blind spot; and based on the preset trajectory tracking algorithm, it can predict the predicted driving trajectory of each traffic participant in the future time period, determine whether there is a road area with the predicted driving trajectory in the region of interest, and if so, identify the traffic participants corresponding to the existing predicted driving trajectory as traffic participants in the region of interest.

[0054] S303 defines the driving information of traffic participants in blind spots and areas of interest as second driving information.

[0055] It is understandable that, since the driving trajectories of traffic participants may also change, the traffic participants in the blind spot may be the same as or different from the traffic participants in the region of interest. In this embodiment, the driving information of all traffic participants in the blind spot and the driving information of all traffic participants in the region of interest can be determined as the second driving information.

[0056] As an optional implementation, if a traffic participant in the blind spot does not exist in the region of interest, it means that the traffic participant is not related to the predicted driving path of the following vehicle in the future time period. In this case, the driving information of the same traffic participant in the blind spot and the region of interest can be identified as the second driving information.

[0057] In this embodiment, based on the first driving information and perception information, the blind spot and region of interest of the following vehicle can be accurately determined. Since the blind spot can identify traffic participants that the following vehicle cannot perceive, and the region of interest can identify traffic participants related to the planned driving path of the following vehicle, the traffic participants in the driving environment of the following vehicle can be accurately determined based on the blind spot and the region of interest. Furthermore, the driving information of traffic participants in the blind spot and region of interest can be determined based on the perception information and driving information of the lead vehicle, and the driving information of traffic participants in the blind spot and the region of interest is determined as the second driving information, thereby improving the accuracy of the determined second driving information.

[0058] The following describes in detail the specific process of determining the blind spot and region of interest of the following vehicle based on the first driving information and the perception capability information. In one embodiment, such as Figure 5 As shown, the first driving information includes the location information and driving intention of the following vehicle; the above S301 includes:

[0059] S401 determines blind spots based on location information and perception information.

[0060] The location information of the following vehicle refers to the coordinate information collected by the following vehicle's sensing information collection device during its driving process, such as the real-time positioning of the following vehicle through a position sensor; the sensing capability information can include the detection range of the following vehicle's sensing information collection device, which can include vehicle-mounted cameras, LiDAR, position sensors, etc. The sensing capability information can include the distance that LiDAR can detect, the distance that vehicle-mounted cameras can capture, etc.

[0061] In this embodiment, the location information of the following vehicle can be used as the center point, and the perception range that the following vehicle can collect perception information can be determined according to the perception capability information, so that the range that the following vehicle cannot perceive is determined as the driving blind spot.

[0062] S402 identifies the road area related to the driving intention as the region of interest.

[0063] The driving intention can be sent from the lead vehicle to the following vehicle, or the driving intention can be determined by the following vehicle based on the perception information sent by the lead vehicle. The road area involved in the driving intention can be identified as the region of interest.

[0064] In this embodiment, the following vehicle's trajectory over a future time period can be determined based on its driving intention. The road information along the following vehicle can then be identified, and this road information can be designated as a region of interest. For example, if the following vehicle's driving intention is to make an emergency stop on the right, the road area behind the following vehicle is the region of interest; or, if the following vehicle's driving intention is to turn left, the road area to the left front of the following vehicle is the region of interest.

[0065] For example, the schematic diagrams corresponding to different regions of interest following the vehicle can be as follows: Figure 6 As shown, Figure 6 In the following scenario, if the following vehicle's intention is to make an emergency stop, then area A is the region of interest for the following vehicle; if the following vehicle's intention is to change lanes to the left, then area B is the region of interest for the following vehicle; and if the following vehicle's intention is to turn left, then area C is the region of interest for the following vehicle.

[0066] In this embodiment, based on location information and perception capability information, driving blind spots can be accurately determined, and road areas related to driving intentions can be identified as regions of interest, thereby improving the accuracy of driving information of traffic participants in the identified driving blind spots and regions of interest.

[0067] In the scenario described above, where a target traffic participant is identified from traffic participants based on the first and second driving information, the target traffic participant can be identified based on the urgency of the traffic participant's impact on the planned driving path of the following vehicle. In one embodiment, such as... Figure 7 As shown, the above S203 includes:

[0068] S501, based on the first and second driving information, determines the urgency of the impact of traffic participants on the planned following vehicle's driving path.

[0069] Understandably, because the driving paths of traffic participants on the road are constantly changing, in order to ensure that the following vehicle can obtain the latest perception information, the lead vehicle needs to continuously transmit the real-time perception information to the following vehicle. However, due to the bandwidth limitation of the transmission channel, the lead vehicle cannot transmit all the perception information to the following vehicle, which may result in the following vehicle only obtaining a portion of the perception information, thus making the accuracy of the following vehicle's perception information lower. Therefore, the perception information sent by the lead vehicle to the following vehicle can be filtered, and the filtered perception information can be sent to the following vehicle.

[0070] In this embodiment, the following vehicle's driving intention in the future time period can be determined based on the first driving information, and the traffic participant's predicted driving path in the same future time period can be determined based on the second driving information. Based on the following vehicle's driving intention and the traffic participant's predicted driving path, it can be determined whether the traffic participant will affect the following vehicle's normal driving, and thus the urgency level of the traffic participant's impact on the planned following vehicle's driving path can be determined based on the impact result. For example, if the following vehicle's driving intention includes road area A and road area B, the predicted driving path of traffic participant 1 includes road area A, the predicted driving path of traffic participant 2 includes road areas A and B, and the predicted driving path of traffic participant 3 includes road area C, and if level 1 represents the maximum urgency level, then the urgency level corresponding to traffic participant 2 can be determined to be level 1, the urgency level corresponding to traffic participant 1 to be level 2, and the urgency level corresponding to traffic participant 3 to be level 3.

[0071] S502, based on the urgency level of the traffic participants, identifies the target traffic participants from among the traffic participants.

[0072] Understandably, given the limited bandwidth of data transmission, the amount of data that can be sent can be determined based on the bandwidth. Then, based on the determined amount of data that can be sent, the perceptual information of traffic participants that can be sent can be determined, and the traffic participants corresponding to the perceptual information of the traffic participants that can be sent can be identified as the target traffic participants.

[0073] In this embodiment, the urgency of all traffic participants can be sorted according to their respective urgency levels. The number of traffic participants that can be sent can be determined based on the bandwidth of the data transmission. Based on the number, traffic participants are selected in descending order of urgency and the selected traffic participants are determined as the target traffic participants.

[0074] As an optional implementation, traffic participants whose urgency level is greater than a preset threshold are identified as target traffic participants.

[0075] The preset threshold refers to a preset urgency threshold, which can be determined based on the historical driving information of the convoy vehicles. It is understandable that if the transmission bandwidth can meet the perceptual information of traffic participants transmitted by the lead vehicle, but the correlation between the traffic participants' predicted driving paths and the following vehicles' driving intentions is low—that is, if the urgency level of the traffic participants' predicted driving paths affecting the planned driving paths of the following vehicles is low—they can be identified as non-target traffic participants.

[0076] In this embodiment, the urgency level of a traffic participant can be determined by comparing a preset threshold with the urgency level of that participant. Traffic participants with urgency levels greater than the preset threshold are then identified as target traffic participants. For example, if the urgency level of a traffic participant is less than the preset threshold, and the following vehicle can obtain the participant's perception information, the following vehicle can adjust its driving intention based on this perception information to avoid a collision. The lead vehicle can then identify this participant as a non-target traffic participant.

[0077] In this embodiment, based on the first driving information and the second driving information, the urgency of the traffic participants affecting the planned following vehicle's driving path can be determined. Since the urgency can represent the degree of influence on the planned following vehicle's driving path, based on the urgency of the traffic participants, the traffic participants with the greatest correlation to the planned following vehicle's driving path can be identified as the target traffic participants, thereby improving the accuracy of the identified target traffic participants.

[0078] In the scenario described above where the perception information of the target traffic participant is sent to the following vehicle, the perception information of the target traffic participant can be determined based on the perception information of the lead vehicle, and then sent to the following vehicle. In one embodiment, the method further includes: determining the perception information of the target traffic participant based on the perception information of the lead vehicle.

[0079] In this embodiment, if the target traffic participant is identified, the target traffic participant can be determined from the perception information obtained by the lead vehicle, and the corresponding perception information can be determined as the perception information of the target traffic participant.

[0080] In this embodiment, since the perception information of the lead vehicle includes the perception information of all traffic participants, the perception information of the target traffic participant can be quickly determined based on the perception information of the lead vehicle, and thus the perception information of the target traffic participant can be quickly sent to the following vehicle.

[0081] It is understood that the perception information of the lead vehicle may include perception information of traffic participants collected by the lead vehicle, as well as predicted driving paths of traffic participants determined based on the perception information. In one embodiment, such as Figure 8 As shown, the above method also includes:

[0082] S601 uses sensors on the navigator vehicle to acquire positional information of traffic participants in the navigator vehicle's driving environment.

[0083] The navigation vehicle's sensors may include distance sensors, position sensors, image sensors, and angle sensors. The position and angle information acquired by these sensors can determine the pose information of traffic participants, which can be represented by coordinates. ,in, Indicates the location information of traffic participants. Indicates the pitch angle of traffic participants. Indicates the roll angle of a traffic participant. This represents the heading angle of the traffic participants. In this embodiment, the sensors of the lead vehicle can collect perception information from the driving environment after receiving the collection command sent by the central control unit of the lead vehicle, thereby identifying the traffic participants from the acquired perception information and determining the corresponding pose information based on the perception information of the traffic participants.

[0084] For example, the distance sensor of the lead vehicle can emit an energy beam to traffic participants in the driving environment and determine the distance between the traffic participants and the lead vehicle based on the beams reflected back by the traffic participants. Thus, the lead vehicle can determine the position information of the traffic participants based on the distance between the lead vehicle and the traffic participants. The angle sensor of the lead vehicle can acquire the pitch angle, roll angle and yaw angle of the traffic participants. Thus, the lead vehicle can determine the angle information of the traffic participants based on the pitch angle, roll angle and yaw angle. Finally, the lead vehicle determines the pose information of the traffic participants based on the position information and the angle information of the traffic participants.

[0085] S602 determines the perception information of the navigator vehicle based on the pose information of traffic participants in the driving environment of the navigator vehicle and the preset trajectory tracking algorithm.

[0086] The preset trajectory tracking algorithm can determine the position, velocity, and direction of the target object from the acquired image, and thus predict the target object's travel path based on the target object's position, velocity, and direction. Optionally, the preset trajectory tracking algorithm can be a Kalman filter-based trajectory tracking algorithm, or it can be a linear quadratic optimal control algorithm. This embodiment does not limit the trajectory tracking algorithm.

[0087] In this embodiment, the lead vehicle can calculate the pose information of traffic participants in the lead vehicle's driving environment according to a preset trajectory tracking algorithm, obtain the predicted driving path of each traffic participant in the future time period, and use the predicted driving paths of all traffic participants as the lead vehicle's perception information.

[0088] In this embodiment, the sensors of the lead vehicle can acquire the position and pose information of traffic participants in the lead vehicle's driving environment. Based on the position and pose information of traffic participants in the lead vehicle's driving environment and a preset trajectory tracking algorithm, the lead vehicle's perception information can be determined. Then, based on the lead vehicle's perception information, the perception information of traffic participants in the blind spot of the follow vehicle can be sent to the following vehicle, thereby improving the accuracy of the follow vehicle's perception information.

[0089] The following describes an embodiment of this disclosure using a specific travel scenario. The method includes the following steps:

[0090] S1 acquires the position and pose information of traffic participants in the driving environment of the lead vehicle through the lead vehicle's sensors.

[0091] S2, based on the pose information of traffic participants in the driving environment of the lead vehicle and the preset trajectory tracking algorithm, determines the perception information of the lead vehicle.

[0092] S3 receives the first driving information and perception capability information of the following vehicle sent by the following vehicle; the first driving information includes the location information and driving intention of the following vehicle.

[0093] S4 determines blind spots based on the location and perception information of the following vehicle.

[0094] S5 identifies the road area related to the driving intention of the following vehicle as the region of interest.

[0095] S6 determines the driving information of traffic participants in blind spots and areas of interest based on the perception information of the lead vehicle.

[0096] S7 determines the driving information of traffic participants in the blind spot and the area of ​​interest as the second driving information.

[0097] S8 determines the urgency of a traffic participant's impact on the planned following vehicle's travel path based on the first and second driving information.

[0098] S9 identifies traffic participants whose urgency level exceeds a preset threshold as target traffic participants. Target traffic participants are those who influence the planned following vehicle's driving path.

[0099] S10, based on the perception information of the lead vehicle, determines the perception information of the target traffic participants.

[0100] S11 sends the perception information of the target traffic participant to the following vehicle.

[0101] It should be noted that the descriptions in S1-S11 above can be found in the relevant descriptions in the above embodiments, and their effects are similar, so they will not be repeated here.

[0102] It should be understood that although the steps in the flowchart above are shown sequentially as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowchart above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages in other steps.

[0103] In one embodiment, such as Figure 9 As shown, a device for determining sensed information is provided, comprising: a receiving module 11, a first determining module 12, and a transmitting module 13, wherein:

[0104] The receiving module 11 is used to receive the first driving information and perception capability information of the following vehicle sent by the following vehicle.

[0105] The first determining module 12 is used to determine the second driving information of traffic participants in the driving environment of the following vehicle based on the first driving information, perception capability information and the perception information of the lead vehicle.

[0106] The sending module 13 is used to determine the target traffic participant from among the traffic participants based on the first driving information and the second driving information, and send the perception information of the target traffic participant to the following vehicle; the target traffic participant is the traffic participant that affects the planned driving path of the following vehicle.

[0107] The sensing information determination device provided in this embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, so it will not be described again here.

[0108] In one embodiment, such as Figure 10 As shown, the first determining module 12 includes: a first determining unit 121, a second determining unit 122, and a third determining unit 123, wherein:

[0109] The first determining unit 121 is used to determine the blind spot and region of interest of the following vehicle based on the first driving information and perception capability information.

[0110] The second determining unit 122 is used to determine the driving information of traffic participants in the blind spot and the area of ​​interest based on the perception information of the pilot vehicle.

[0111] The third determining unit 123 is used to determine the driving information of traffic participants in the blind spot and the area of ​​interest as the second driving information.

[0112] The sensing information determination device provided in this embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, so it will not be described again here.

[0113] In one embodiment, the first driving information includes the location information and driving intention of the following vehicle; please continue to refer to Figure 10 The first determining unit 121 is specifically used to: determine the driving blind spot based on the location information and perception ability information; and determine the road area related to the driving intention as the region of interest.

[0114] The sensing information determination device provided in this embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, so it will not be described again here.

[0115] In one embodiment, please refer to... Figure 10 The aforementioned sending module 13 includes: a fourth determining unit 131 and a fifth determining unit 132, wherein:

[0116] The fourth determining unit 131 is used to determine the degree of urgency of the traffic participant affecting the planned following vehicle's driving path based on the first driving information and the second driving information.

[0117] The fifth determining unit 132 is used to determine the target traffic participant from among the traffic participants based on the urgency level of the traffic participants.

[0118] The sensing information determination device provided in this embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, so it will not be described again here.

[0119] In one embodiment, please refer to... Figure 10 The fifth determining unit 132 mentioned above is specifically used to: determine traffic participants whose urgency level is greater than a preset threshold as target traffic participants.

[0120] The sensing information determination device provided in this embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, so it will not be described again here.

[0121] In one embodiment, please refer to... Figure 10 The aforementioned device further includes: a second determining module 14, wherein:

[0122] The second determining module 14 is used to determine the perception information of the target traffic participants based on the perception information of the pilot vehicle.

[0123] The sensing information determination device provided in this embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, so it will not be described again here.

[0124] In one embodiment, please refer to... Figure 10 The aforementioned device further includes: a second acquisition module 15 and a third determination module 16, wherein:

[0125] The second acquisition module 15 is used to acquire the position and pose information of traffic participants in the driving environment of the pilot vehicle through the sensors of the pilot vehicle.

[0126] The third determining module 16 is used to determine the perception information of the pilot vehicle based on the pose information of traffic participants in the driving environment of the pilot vehicle and the preset trajectory tracking algorithm.

[0127] The sensing information determination device provided in this embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, so it will not be described again here.

[0128] Specific limitations regarding the device for determining perceived information can be found in the limitations of the method for determining perceived information described above, and will not be repeated here. Each module in the aforementioned device for determining perceived information can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of the vehicle's electronic devices in hardware form, or stored in the memory of the vehicle's electronic devices in software form, so that the processor can call and execute the operations corresponding to each module.

[0129] Figure 11 This is a block diagram illustrating an electronic device 1300 for a vehicle according to an exemplary embodiment. (Refer to...) Figure 11 The electronic device 1300 may include one or more of the following components: a processing component 1302, a memory 1304, a power supply component 1306, an input / output (I / O) interface 1308, a sensor component 1310, and a communication component 1312. The memory stores computer programs or instructions that run on the processor.

[0130] Processing component 1302 typically controls the overall operation of electronic device 1300, such as processing the sensed information acquired by sensor component 1310. Processing component 1302 may include one or more processors 1314 to execute instructions to perform all or part of the steps of the methods described above. Furthermore, processing component 1302 may include one or more modules to facilitate interaction between processing component 1302 and other components.

[0131] Memory 1304 is configured to store various types of data to support the operation of electronic device 1300. Examples of such data include instructions for any application or method operating on electronic device 1300, sensed information, etc. Memory 1304 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0132] Power supply component 1306 provides power to various components of electronic device 1300. Power supply component 1306 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to electronic device 1300.

[0133] I / O interface 1308 provides an interface between processing component 1302 and peripheral interface modules, such as keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to, home buttons, volume buttons, power buttons, and lock buttons.

[0134] Sensor assembly 1310 includes one or more sensors for providing state assessments of various aspects of electronic device 1300. For example, sensor assembly 1310 may detect the on / off state of electronic device 1300, the relative positioning of components such as the display and keypad of electronic device 1300, changes in position of electronic device 1300 or a component of electronic device 1300, the presence or absence of user contact with electronic device 1300, orientation or acceleration / deceleration of electronic device 1300, and temperature changes of electronic device 1300. Sensor assembly 1310 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. Sensor assembly 1310 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, sensor assembly 1310 may also include an accelerometer, gyroscope, magnetometer, pressure sensor, or temperature sensor.

[0135] Communication component 1312 is configured to facilitate wired or wireless communication between electronic device 1300 and other devices. Electronic device 1300 can access wireless networks based on communication standards, such as WiFi, 2G, or 3G, or combinations thereof. In one exemplary embodiment, communication component 1312 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, communication component 1312 also includes a near-field communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0136] In an exemplary embodiment, the electronic device 1300 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the method for determining the sensed information described above.

[0137] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 1304 including instructions, which can be executed by a processor 1320 of an electronic device 1300 to perform the above-described method. For example, the non-transitory computer-readable storage medium may be a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0138] In an exemplary embodiment, a computer program product is also provided, which, when executed by a processor, can implement the above-described methods. The computer program product includes one or more computer instructions. When these computer instructions are loaded and executed on a computer, some or all of the above-described methods can be implemented, wholly or partially, according to the processes or functions described in the embodiments of this disclosure.

[0139] It should be noted that any schemes described in this specification and embodiments that involve the processing of personal information will be carried out under the premise of having a legal basis (such as obtaining the consent of the personal information subject, or being necessary for the performance of a contract), and will only be processed within the scope stipulated or agreed upon. A user's refusal to process personal information beyond what is necessary for basic functions will not affect the user's use of basic functions.

[0140] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this disclosure can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, or optical storage, etc. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0141] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0142] The above-described embodiments are merely illustrative of several implementation methods of the present disclosure, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present disclosure embodiments, and these all fall within the protection scope of the present disclosure embodiments. Therefore, the protection scope of the patent for the embodiments of the present disclosure should be determined by the appended claims.

Claims

1. A method for determining perceived information, characterized in that, The method is applied to a convoy of vehicles, the convoy including a lead vehicle and at least one autonomous following vehicle; the method includes: Receive the first driving information and perception capability information of the following vehicle sent by the following vehicle; Based on the first driving information, the perception capability information, and the perception information of the lead vehicle, the second driving information of traffic participants in the driving environment of the following vehicle is determined; Based on the first driving information and the second driving information, a target traffic participant is identified from the traffic participants, and the perception information of the target traffic participant is sent to the following vehicle; the target traffic participant is a traffic participant that influences the planning of the following vehicle's driving path. The step of determining the second driving information of traffic participants in the driving environment of the following vehicle based on the first driving information, the perception capability information, and the perception information of the lead vehicle includes: Based on the first driving information and the perception information, the blind spot and region of interest of the following vehicle are determined; based on the perception information of the lead vehicle, the driving information of traffic participants in the blind spot and region of interest is determined; the driving information of traffic participants in the blind spot and region of interest is determined as the second driving information.

2. The method according to claim 1, characterized in that, The first driving information includes the location information and driving intention of the following vehicle; determining the blind spot and region of interest of the following vehicle based on the first driving information and the perception capability information includes: The driving blind spot is determined based on the location information and the perception capability information; The road area related to the driving intention is identified as the region of interest.

3. The method according to any one of claims 1-2, characterized in that, The step of determining the target traffic participant from the traffic participants based on the first driving information and the second driving information includes: Based on the first driving information and the second driving information, determine the degree of urgency by which the traffic participant affects the planned driving path of the following vehicle; The target traffic participant is determined from among the traffic participants based on the level of urgency of the traffic participants.

4. The method according to claim 3, characterized in that, The step of determining the target traffic participant from among the traffic participants based on the urgency level of the traffic participants includes: Traffic participants whose urgency level is greater than a preset threshold are identified as the target traffic participants.

5. The method according to claim 1, characterized in that, The method further includes: Based on the perception information of the lead vehicle, the perception information of the target traffic participant is determined.

6. The method according to any one of claims 1-2, characterized in that, The method further includes: The position and pose information of traffic participants in the driving environment of the pilot vehicle is obtained through the sensors of the pilot vehicle. The perception information of the navigator is determined based on the pose information of traffic participants in the driving environment of the navigator and a preset trajectory tracking algorithm.

7. A device for determining perceived information, characterized in that, The device is applied to a convoy of vehicles, the convoy including a lead vehicle and at least one autonomous following vehicle; the device includes: The receiving module is used to receive the first driving information and perception capability information of the following vehicle sent by the following vehicle; The first determining module is used to determine the second driving information of traffic participants in the driving environment of the following vehicle based on the first driving information, the perception capability information and the perception information of the lead vehicle; The sending module is used to determine a target traffic participant from the traffic participants based on the first driving information and the second driving information, and to send the perception information of the target traffic participant to the following vehicle; the target traffic participant is a traffic participant that influences the planning of the following vehicle's driving path; The first determining module is further configured to determine the blind spot and region of interest of the following vehicle based on the first driving information and the perception capability information; determine the driving information of traffic participants in the blind spot and region of interest based on the perception information of the lead vehicle; and determine the driving information of traffic participants in the blind spot and region of interest as the second driving information.

8. A vehicle comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

9. A storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

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